diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd5034100db5d4bd1eed0d8126c7629067136d16
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e8ebcd58469fd1013a99241f9be66642e56387fb312bf1f2af3e61e706fb43
+size 648155
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6539d21a4201ce8cf115a20362987f6f43d894aa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fecfdd4ebd683735edd916a85b9e4f7042d7d6263300841fc3d2b0d933018c4
+size 407249
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3be8b0ea26d97bb0f88706907af7ac1b8d17ba5b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab57ad7c7778b7c6ee9a10e6499d4ab81f60f99601afe0f13c39b9d756c3514e
+size 544238
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58970fdaaf1126cac1517bc03e017705c8a059dd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29967c9e2dbc5f5a3de5f3503bfd35f0a48f725637aebc4319941a7ce56ee850
+size 594988
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daa6ea9850ec00035c98ba059b06d25c0e22d740
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a404f2aa91c73f773abae82bb8153dffa99cb9073e6ab760dc4362b61214af
+size 544994
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..30ff9b606f9a67b382d03c319230db24f8728a2d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48248d788bc9673dfd022b77d9ef182a17139cb8ed14aeee1b2349a6ae1ab789
+size 356534
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e6c4e9c2b73089da91e632db9c516c1aa564395
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7524723002ab681a8f85ea76f5673acdb4240d8cb9af80a0942abb4de3e03416
+size 448232
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..821e62084e10ca02dbab8740e7a214b91cc543f1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72a82b5e94d1af5736f69934f2a5924a3774316a60bae4ea42f22064db00fec0
+size 504754
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f0e15f77dd05809c7b0b96af96225f36bbb70b2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2aeb080eec8527d3240a93b0fa7050e79b1f70aea6c78161d372d87908c88f5
+size 633187
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c9b93c88bcbf93ad50c44110fa4de3d6923a5e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8812a3cb17877579bc61d0766e6acb0ff070ba05fbd5d2817ddd0dc1d546a237
+size 480048
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..837d5b58e2cf8519d1c7722135ecd67d176e2dd5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88120f4132c63971e7c71b0dff636715ac935068c3a3e5d76a873d107fc7bfd5
+size 574232
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6689da2aec04bfce691198d456939a8a93311f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7837ab6394c1ff4a4c052e4954fb2c6bc29778da128d3f693e6b429da2514123
+size 693287
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b36b484002c655bab91494c5e2dc51b37b43fb2f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100926ce9dae6bee94529d03f1a1692ba81428421327ed632ef8560249163667
+size 1004266
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4badd2df06df7c62d600660ffc5343d0e3b5ee6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34bcb37124a30305340435ca68efedd5f6db379aa1b77d29b45aa690be84e068
+size 717664
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efc2c5e7becfc73ebd0cfd724f3503c3cb6a8ba3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1526de745a10124531316943d6e7e826c2be9b46c0f6409343d7f4dda3be752e
+size 750608
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86dbef03844e14df1d2db9271ad8e3fc182bb00e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc799a6d328cf2f084e8991806f346389d0dc92a3913d88ce684a5ea138a621
+size 1248148
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c5b6d8529fc6c35399e1e420ddca939fc114503d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3821c2acb1a12d08fc1b565f45f8e4abadf42036cae79ffd246347a8572dac67
+size 131369
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7fa56945269f6b10a66e9b3c7c55277a571e9778
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e359bf7a36cc2a3b43ee2996b8c54f4d65d43f15ab98d25773ff2b8eacc2fd05
+size 122113
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ca1cb8df4653aabd9a82926bcbe122f03a41ec5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627ad4666240305c46ab8bf62e1b93d98cce54049f4262d17cea6bd94a29195f
+size 141677
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edfae27636759e0bc811d778ee12f268917a9081
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56fc069280ebe18804166528a9926347d9d828567bbde63f680d4459adee84c
+size 200323
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f952a9cee776d79446f17ae8762e414412a5826
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0cae9cfd185eb3bec97e044473ac144f51ae6e0f5afbcf1e21f133f7927f1db
+size 592648
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba74e5fbd6552dfbe1e1933a9de62d52674d9989
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6788699c1019251f476a95b08cc66551e8925ab65a662167890dfff98326956c
+size 628271
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f72b26fe27691040784d09951350cd6f4016ae8d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46873befbdd91c999362e6e407591278d0ff97a7d10948f0eaa03edb2163d981
+size 679556
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afc7aa4cf950531f91600a00ac3a7a363e5f01d9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000000_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:125e4f7c383c573dc88991c232663daeeb1a1966e6a4cb5369ca50f134551d65
+size 638938
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..215f3fab28a9e7c34d2ab75133dc8fe8c2872142
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865ee80311f44fa3e715f91fdabd14f8c2eb9f6c56029bfb1d030e241375c58b
+size 554423
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..180442bc3fe093cb455d6d647bde73040e7f4482
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6592977847ec17d56e12e180aca9bdc1e838117122e096bee6786ec1cf99bf8
+size 416061
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecf4f24936f2f8ee252014bda6123d29d7bfc243
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433440b730874f9cc6ef917858107bb8c81845bb903b7f2b12d192617e6cc46f
+size 602026
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c8898ea9116afc165fa2fe1fc1a16af4cd0d275
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf108b43ed2037be9a1b573ab0e0853441bec2f3eacd429a3e9145c2ebf2e9a
+size 686822
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e748866c74324253347b48c90b8c5e4b8bd476f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c0cc470ffd9e3a742d15d440d086ae191eecfd55e89ac58fa24189f35f3dfd
+size 495323
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb2e86e0f65473f7562327ab3ee4e4640c7efe66
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d29b43582e7f5b5c3b6bc622f0c351626710fd70e12d17968bc655bfcb3b836b
+size 376669
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7f43d0321b103f37e05ebb12a8ba0e433063e8e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f64b3dd78a34a686df0f526708ca7587ab7aa8c3c54937f7f7982d6fe7ed8ab4
+size 504572
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9548d0f7a9f2c46b80c769c474f80bff872aff16
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43514058cbecd6702d7a4a41e47ab6caee327b675f60f9f8c42695d9c1bc86d2
+size 598255
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..158a070fc15264a3f3cd5ff6f83d29c12f83e7cb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ad74fcb5bb3401b0de8ade7cadf6c6bee02969c9c1fdbb21e27a3be33373c3
+size 575808
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2354bf8eada44c0155d9e9a7d45a1c2a1a1a79de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff8cf6583bd3095feda6a5e0fd679db27812a26ab85eaa110aee9d130fbc37ad
+size 531002
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffb2c313ca91075d6bebff5fd83469dcab2fbdb6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e38833fe55e26bfad7d5fbec606c1ba118a0deebd28d58467dc9da1fcac1c87
+size 677674
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..711087647af5214e24302aa7ae2ec6f6186c3f6f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa269e6c1e0cec43affbe031a8dd0d8948915ae7e812f8b09721f9e633b89d79
+size 638137
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e418d0edaba17aaa5e717da8af7d0a01abecc4a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16af979beaa1ee3976ff6cbca3aaac6f0c3777f753a849267ad0c34b41d8038d
+size 795076
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db07fedbee1042971546b74454fea791160951ad
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c26c524d47e3064e642572900af62e8924f7824658269a24c3c2ea35cc4bc8
+size 707047
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..676472e297ff03f622c893b1eb509cf7f720299a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56bee40f73f06baf477c1e7f0817fdaadba5ab6a4f3ba64307b100e1a9b2179
+size 973996
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d160de4ace96e363269fec4675f727df0f872ff2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5af115d3bd8af244f540e774918188a09512b8b4156fdf07cda8f641e6e8119
+size 1056786
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4748b17e0dc0663e3da3341c6546b5c1bfbecf6b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6044c86c09db2284bbe6d8621d36cba8d91e97eff7007572e49aa97c6b2a303b
+size 154339
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b9cc5e9afd9b7a46e03632640ec3491e8a539e7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b147c04102fc9b6c0746573bd82d810077ff23533a383eca8bdb2e22e6c49da
+size 109573
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef8b9e8692c813e4d643a88794ef41aea9327103
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a164199758e7eef90febdcfba25f6e17c1ae6fc22288be4dd28df0b8d1cfdda
+size 119455
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..612ec40ebfc4dd13aae9407cf1b95ec1a1d8c1ed
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed581568dfcbd3ec36a86aade70cda7d68f70f6b1ff8031081c236ad87cbc4d
+size 136555
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9608c6f513c64264fd26bfdb80e2058768bd5b4f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5140f6f4f6847efca20c23d4aff6468f5ba5d8bdefe7902f0b1132810b5430f1
+size 555383
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..135f7e802f7349c2c9a13b776a43bca6b5ea729d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f67301d2ef360ed85050f9a1bc164697289c28491f4d15584b1fe14561321c7b
+size 578188
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0a93a3db9da2d7c8568f64f78c1c8111be858a4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdac99811979ee3cecfe96d156b3fdca84d80a99e8e64b34687028d3ebfd5650
+size 676531
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e72e08414b4587bd4bf2fd699ea96ed11fc2a27
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000001_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cedde245a43764025af7cb7f215c0c82ce05a2820e3a1a205f6b0993c1deee
+size 580326
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0a6a79b4d9d65847586905fc43ec04a7ecf20f9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fff00d253542dc1ae4640c0687a26f6996953a1e43432470cc602246e77c76a
+size 538459
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5584b2cf34f8a8063929a0aeda2987d4304b42c8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66b06be6565eac0f16229896e5dda575ee644a2452dc1f7af197b697b6d2997
+size 439274
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a3a551173bb23042a6af413e5d208f7d442b914
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb395cbef7c2e13bd65af2514df596eec222ca2866c03c9d36e1d6293e6e55d3
+size 555574
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..439a1c9642cd104bcb1042f4d2ecf1bc5028b824
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7649a414ea9ae239939fb083571a05364b1aeb9679018ae817df0b19c88bdcfc
+size 556080
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a6402e28b09a374567f39c1f801d87736d764b52
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dab8e7a015cbb2b7ce2e2457d19b166c074cc2c90c70cdc6133fd1112e4e4e78
+size 475870
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db95b5f1894fbe2ea436b6a3de2a7950068c170e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d84fdffb8da839671006fb0ebea8167e4ac53327b5f97980917b5eb524ee8380
+size 379117
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7173938d2bbeee15dc46bb22eba9375edd66e6c3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d422e7416a820c7bc284faf2197736265fc2714354b04c44825bb8d13ee01e4
+size 482534
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..951f4e713e5e4fba99b76c468a819cd206e17cdd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:364325ff5690500b6140439499418c964b8b25ce77cac1d701fa6f82dd91b855
+size 488754
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a4fb7da4b68cb86c0ada24e701f2466490f76eb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fcdb0ab2ff7c96e2281d8a14f6229e58e31d33a4cf5bfcb96f77b660d719987
+size 525741
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c0704c7e5713ba9334f59ea8cbe84cd9eb1c7e97
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e08aba6c909e546029fdff132b117d63f88d0d0a8311b2538cec1013452f87
+size 541534
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e60e2780cd911ef3636805c68b48d6c7895f9ccb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f465cf19c841a7c741b10a6858341ae26f240c352ba6d5b4c4b48b11d9596a5a
+size 578291
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f61bbe72f4ab561b3ddd9f4ed81c9f017710e39b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d4348c7831ac44adf5b2c3e3f54cafdd6cea0810be9a7016240d5223121cd5
+size 625364
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d17a621c152b5a6ee74a9cd9980d09bf924ec7b7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b00547c17b1b046c1200a3e6f94085c2ddabef8cbdd6d6c9f735d0fa3b0c433
+size 713381
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5858db1dae174578365cbfbaac230a709c93ce1b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2c6da6e74144a8bea0bd8d38e8d9c357d6455ab9b904ff3361c9694e2cc3fe
+size 663088
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d3b0052c3994489702d285a756b111b53125054
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a083d6429efc5d9d312e7f748accc96699a9a894ee45700e4147e7e318ae9b
+size 777948
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..508c00fa168b27929cb2b0739f923236d64d0ead
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a4af1de7e9b32d75db1ad068e1a239007ed0b0b73e4b418a3818564cf66155c
+size 734060
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2713b1269879a7f8d01bda49ab17d95a29b51385
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6260ac2009b63b0356205dae991ced86b4f341081ce796b5c7179f1ed98cf994
+size 124777
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bb0506f479995658372e7cf9484a2cb110237c6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77378466c96eb2b28c748128143ee2062593e1b506ab26d85c7f9a0da9758c16
+size 103508
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b2ed2f92bd773fd41096022de262901284f25d6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0fd2e2e4707e401531400a807eaa3b085f4a260cec529f3ad9b34c65d44a1a
+size 141913
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0edc0fadd143a17a770d821b89dab21de12da51f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb51d66291400705dbf4322ea26e173075fb364b947dd9efd9d9ee7d520203e
+size 112224
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57d93a42925cc0886d0fe14acc5af0a5b087779b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:460b7efc2fa0c046e39c4aa83a7f82cb4f6d3c8fae490d9bc3a18c4809d08b22
+size 661712
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..18eba483e9103988d15cebbffb8e53729eb0c1ac
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1395cf84f560e938d547111a3ecc49ca036114a90e47c89904a2cfbc3accdb4c
+size 583084
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ab5660889205b65dafc616b28e4c2e07f99c5f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe9009d314a6e32174cd5f065834a531aadc403110b0102cd22c6fea770d3713
+size 633703
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec4b6be7fed3283a01a6c98abca7631ce0b856f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000002_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11500267526d66744d16b5d8f9abf68d694c33f7547bd3e0c6f1b4964d4fc484
+size 592766
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d71857317400cff3b32811723d7d9160b4095962
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d89fea4829598f13f317813b7a2e5e21e62b44dd15612146d28a9267c89323
+size 493999
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f618bb3918fc7acd6e9d264b9531a251f820b799
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3985f7bf80ce14fab7a7d47778f5fb19f1efd5324d8b503bcef116547db0ab
+size 525148
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8502c161e83b9e107a6c8e8352ad1ef9ac84a35
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfaf6fc2cbc9ff699de1ab13ebfffd9bc1a6d6bad83fd6368f7c6a1f3e3335fa
+size 544475
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14b6aaa7a0e3f1229bc127401497b08c3d7f5258
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24bd62f24c84c9e57464db99d96ec7d9edae6b6c540073afc37d9db845ed5db5
+size 535898
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cad4a527991b91050d58317f26e56d7eab46a35
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5365eed47126cb8befaf260974eb2cca3d44631340c79e605e179fad465c3897
+size 432909
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec6e2fd4c7294c7216c376295a246ab16e4f3036
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f54b144b735b243ae0253d1e06cdc06bea19c0bc7bf334b68b35b150655649cf
+size 465826
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3e3bab26d304af66071e2be77ab678d5f3f2d48
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64301d1963a78c0adf949f7e4d07ee9d5e42947895424e9519cff41c3d5588ec
+size 478867
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..198abfe6cf320916f26f1e5f1bcdfa662530728b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a931434146ff1a31ebe7c97abb9d3d493c7ae29c265660b787d6bb7e4227917a
+size 444376
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4aefcb20e7769b68a2b4e58dbe64613cf6844be3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e282a4d9aa3d4e331fcb137687914647aa3267eebacef2e0a2e38c071dc228
+size 525055
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3e0a17003558c43251b9c37436d28244396c3a4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:114e65f42baf586e57ab48b5975a93ece1cc36a7ed4000f7d7d13080abe3f4cf
+size 572793
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51a4eb36b8c9fd585e54d0b1ac4cf2cac67ca495
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b56cfa5fb74dce758ad91331e624d3aa8bb868368124519bdc402e39fa8a90ca
+size 557191
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e9c829849c9f184050fc049d9c1fd9434c8474a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0940d549274814fbda8089d2d483f306dfd85efc59b5b69c9434f035ac855baa
+size 669640
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1045a9baa04cb6e25681551b715c651fb6d442bd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1083131ad0a4f227f20379d7661453e49233da3077f2ff6989d6ecf35a3a187a
+size 715662
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bddf2f49a2ec38a9bb7ac1216f961003db4f9db
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56781fc5e4bd2376698575605944d56e27f4025bb6d0f869c40429a690b47fb6
+size 724039
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a231efbdf1f36e99906fff4a53c47b7f6ffff2ff
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8457320ba4e016a390352f73e6cdfee98daaeef3dfe5661bd8c88ef95d4c1d7
+size 745938
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bafbf1a2a2506bd0fa131f5a08a1504eaf0e70f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c4b9f4446b8481a4e84d09d769439212b948d76b70ce6f44e30b840362f746
+size 1126052
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..433ee6fac6a12ce55ee81cbb937dca3aa46361c8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c008189089992a68009d74d747859927d361c04ac5fa78a361a8fd0a806e57e
+size 109587
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..065782f38319c00cd4bbadc8a16c670182b2e5c4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb6cefc45432098a70c91a9d16139823ced681ca484ee1c5a30981415158be3
+size 110457
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..761e85d297762140a5b1f06ac9b4552a43fe106e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffbcc43fa494683dd422d3deeb762c332f57d8d06707f189b5b78228d5625644
+size 122923
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3814af94148edfb63aac22435a0a32449b1e05a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23a042b2dabe52f40288ceb15de937c04c506391e80672cc7731f384e8c261e7
+size 125465
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff2983d5546c2c745f115d45fd427e61ad42e0ee
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef2e213abe871c7a976a43eab4f66131e7a46a420c7736a9efeee1fde82e0cf
+size 529810
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..398c7c8e3b90003acb8f46e09c963106af987dcd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4147df9b156d1a7bc0b31ba013ad8bc5269792c068c5a3442ff1a150f6ec32b4
+size 586035
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a8c4045abb45510318e191f3db6b65259800997
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ec51852b1c576aa6b41964175131521644351a9bd943e97af1ea8f9f4de6b5
+size 627292
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48b288b222c8caa5bd719ac32fb6f277fbab1070
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000003_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ad0ebf8fb502470d31068cd9a4b744de2307e5d787ce4a1520d1a28adf8c1d
+size 677538
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf8d79d202a4fa321192b9b94aa50fc5efd928b0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e1ec15bebf58868e7e446f9c3981e5c8e0d8ca8f8694a4205d92e9744f8c12
+size 455202
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..867a8faf9c1be0bda9408593393c444b71ab4a18
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3129c53c47276dc03b9f3c68736d80478c0c238daad096c83539df932f1a12bf
+size 508222
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af31b6673e4659365123cfcbd159cea2064a0200
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ce0c87c841bba4ed12f6b3eff3b12620b98d2fd1969830c3e9bac5270fd46d
+size 539360
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbace40d0e8e27853a02b665d5abb4687928a3fa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c0fd1b52323183c2ce0f12eb7431f18b1e53b34f875289552cf69e39c7b675
+size 576591
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41dceee99d28472b57f0812b6cb95707f1dd475a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:402bbe4c3a698af4588bd048887c1965ef561ec8c853f87bcd5dc8dbcc775ecb
+size 412635
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f686e084c9effc81c91a575be280bf2e9ed99fc9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2642b154334680b9301d08a6b8ee80ebca4f8c952c09c0481ce5594c9335c7ba
+size 437112
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1d1066801bb74bb9b86f4ff1eb0acfc4e09ea85
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5520f13dc05ae68ab419681416416353b804645b4a757a033a99ce2ead81b56d
+size 471097
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca3c4b9cfc230d6c376705c17c21fd74cc19fec8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b283714e0205e2ad623218519910baba3923a8e0f499afb7621b9630a27ec21
+size 494910
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12c4efea75dce41da340e3ce98673d1a6173db0b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d9b3f6039c1032d282d80d1ab5c7af5e45e5864cc8d5815390ba6a5ec6a679
+size 506705
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..774051811c11d8088e1febf6b394df0f538bdbd1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0edf0e3d9fd53020a887c47a204b15eb736886ff1fec4f89472c4abff6c56f1a
+size 524307
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b40ab2826746379e81a923bdd7cb3e604730d47
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86703a0c2fb31df72c71325871b5536aabc921e3883eb7908e5c91e23b4e1f5a
+size 579283
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43696b8ed674f7c836e46e3eb3f36bd451f983f3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23654f916624fbb78bdf26a0bbccde2715d43173d4078f59da8d63b2c85ae1c9
+size 649713
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2646792308b569be3dc46da57d499949e12e2ac
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b43a419f1f95d4bb3a5bd987adc20da95b935249ec507640813f96f8f0227e5
+size 703159
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17bdcf9bc4ee2e5fbd93b04eab08af717a8b0daa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81edc684943bc665b4d9e0e252db53bfdbc6a87e069451d2b82372a855bd897c
+size 640389
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fdfa77512dbe283cf2f8a29a885405fb6bdcaa83
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31e8b78f8f87cea520e71e827781d58e419e1970657272840e3493f87fa81b3f
+size 855133
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c480ea17b3d72ef158823c8c7300cac1870a16e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3e0afcf1ebfb206a5914eabeedb0e838f2acd929b4f7aebcdb1643d168c1516
+size 946660
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..576e4511284345ba2ecc666b43fc1b454769b5db
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2129254d55738c03d3d6783d9e3217b6b2d45d447e17bc267c7eeeedc80cc91
+size 115697
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc084d262411573fd9c58bb20ac7eb8430fa0e91
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327072ce8db16b6d2175cb6c744606d7e6c678b70af25f9e93b100422a238af0
+size 103206
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02998073d0a64b1f87cbe6e1ee2736789f2b799b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57472f44224b21d71c4d5121dc0f5e926d0aca0087cc6d86a66c917f8c387e0b
+size 170503
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c449e8f156e922d7829ddb0cc402ac2411701c14
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27dab22d70c9e0339d6bf27ffaa481dc7e199ae19d0eaae8bb5e32c3a93eb390
+size 123026
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5781a14ce23a43ea6f474d8d6fbe7e1da58de013
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:116e67b222db6f70ae5e531e291a16a7b72ba74487b9fdb93a10a0c9da37b864
+size 572835
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a2f1910a442cff95f53c8d55dd0ca0b36ec0e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:421c37418ee65a957b9190fc2eaf5b7c3ebeb3d91946376900c6fbad287330d2
+size 539492
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3a153cafa63137c2ef3674ad9c2369fda134d6fd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9fecbdd388f4f1a0f709fd28d70c8431b0ca0c09628ae25692b407ddb2dcc0a
+size 634308
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09d61b8eabd2ea40111812f175ec92bbc9d209b6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000004_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:979dfd910871eef4cdb463c05af412f984bcb43d0fb405a0e42d66e443b31bea
+size 594251
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa3eef3291b2956035be05fe0bb59944d638151e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ba8c5f422aa2ac0ed73d6ac10159f5b7019cb5059f92d1175deea8163c2280
+size 536676
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a58d756277482c6d68d7558be9bc9e55b353e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d1c202246f555399f531f1c94fb92590d698f5f9bf74ce64ae91094dec8fbb
+size 685246
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..281eff97c05d655f72aa67f038d6c6cd82be1219
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bfc138e9fc7d26ec31dc0e598eab258b7152a87694b6df137005989310d9926
+size 730739
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..81dc8aba6a4c373f7ca3d937646bd09979c9834e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f3c0e8ae6c691ef98a724b32f231cf3b2bda7038673437530ca6ce15a1685f
+size 428944
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a70dbacd2cb27cab557a5a740a91a9b25e5a715
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4eb5268dbed549f802a71fa24cc4b649164bf716383f93362240458172ded7f
+size 478296
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c94abe69bcd5fe691e0309e54c44d8e1b935e137
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcabdad4c974d0600be7940109253075053bf76f4c1344973b5f8e2f0bcdd9a4
+size 600982
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec9bb24e18ab966d7c90d8a0ec32cf91f06dc3ca
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea07ab4b454c2fc7d461da3f531dbd93c24d941c66da3b92b1906473b645406
+size 620397
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ddd0b56f598929346992d1e38e53cd54c7b53e2e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56560ea0d5c91c6276e168fb088aaa89a63437fcc40fc52f373d80e5ed779a6d
+size 385278
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86650d032796e2f962a73e0b30714efda9ea2e7d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd73bfa87808116c35bc3e11840a41dc631dd2d6562f17d81f5f7c2e51dde53
+size 630360
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68e94e973e176bf3537e2edc1ad6640aef5e19df
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea3d88327914717fae661201e7e57009f80379e685da2d25a95729c62ac10503
+size 743277
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50b83874e6c1e35dd3861fe03d23fa051ef92680
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d69247fd87d48f687f4de0444db25c4fcb6d3475a64fb7d68cb245d6004836
+size 677391
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..806d031ebcaa32f779225f28d31b64c3091fd0f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e4496df5386d7875d7d7b9232272115c567ccba4a4cfe673cef0dd3b14e002
+size 522981
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11e45563b433a490c02345fa2cd2954038ffb644
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1786f94fd64b798e4ffdfb1869026c1f191c309c528cf607832d072c8ef8d3
+size 692698
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a6a672b70b49a5f7a95b76b27751e9723bd9704
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9446bcce576461ae38352919f2c83d9598a3ce035760fa943361f4ad73d7dfe
+size 1135563
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a39fc42500702e5fbf4c267686734e63071fd980
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779833b5fa89cc2472476758ebca4233f22fcc4aeb5bf7b57aea3e5e9240bd74
+size 967892
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2ebee72460e4bc520808baeab2b3d97ee36947c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7192aed73223f9d4c29a05d842f4cc4322537d39360b971b51fbd0d95e1c3d74
+size 786652
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee5025c5074b1215faab56a2c76f0d299597f215
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c454f3dcede43a65c17b94fd8b0597fac72ec484ca1e7e063836c5ee87f63910
+size 102612
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c36b699ed8566c7240145ce01d610f380525f241
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4e2eef6cef0e8379ec937e09c585f7c7186baf4fd4c4ae36a9c46810f4f3e98
+size 149122
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0baef7248ccc64c36a57908bd4fecd6aae8138ae
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3bd1374b1b676ddffe15c6577dfe0ae6ac2649800f8ed1d74345038c532f329
+size 136714
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2804b5a7edc739c678fe1af94b1233b72e0bcd06
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30968a122648e964c568ed86aeb8636a7f5a0b4ac80c3d29c09c1a6ee4a71dd0
+size 146415
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..52bc1e009a27754010b4e7ed55c8e326a43bc44d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bff147951956fd9d04d9edb8942bc648eab911d6beea1df849afb243a989c7c
+size 497242
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f7dc78af590da8d795ed21e321dd160c73bb5f7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf4465f6b5fbff3eb9882212eb64d90578deb4a201a1e19f6b2e69c0d2bc69e
+size 638008
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3817ba563cfd7678d99a0666da6487b02d82235
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9987ff85c69e20aa56648f7eb668ff755399f6c41f4d86d955834982163f1a3
+size 631658
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..298ea26314265ec8ae2d2905589358167a0e9c40
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000005_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76183bfc0820186a603b6a25b7d230c51c1b57134ae4e4f149f78fe96f7f16e2
+size 659716
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7258484b0f59739e09c15ca3a5a6874cec743d5e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0916cd2e31a702fccdf804542cbb6d63cdbb6ace47c9487e584df109610cd72f
+size 426411
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cea74469e7eaae115bba8a11e33676ea26cdf95f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e60e5ebb34627bc05d7529224fec624d7e2205c8c01ea5501ec87a9a96571c6
+size 671046
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b4c6b134bf5c2d4e7a410760cdf7aecb270a792
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc02b0b5c0cee82943b473ce9ff92ec36b91c1c0c63d384ecad6ea56a21d18b2
+size 490817
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..366666c5fc3924961fdb840d2e2b8c7661b9e6bd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf95755c1c9bcfb7c501acc77519d995f8f9d9a769c53c00f0201625cc34720
+size 492481
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26af6c18bd24282fa9c58f620a7e8f609fb2a18a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33a6cff47593cc0707ae30dc9eabdbb542502d4999409dc92a99c22e1de5aae
+size 368020
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1520cb361c41ade67cf09f43a536e1a18aed3862
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee161fbf648d710e816d2c484890648852e7d75ed4da841da11201a477d2f6b7
+size 537110
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e2b620c7dcdaf490be07336c204ca2799af351c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a725d6fbd6b8102be6b0edf4b0d183e7e00fa714ba2b295a8054ae918b2cf787
+size 428251
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4e3df0f82f82fadd5764a1c4d815e88e0b95ab29
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac97a4ff3a90b97b3e80297f986b0a8ce57c6e6db04fb3bbcb8242416a516b0
+size 449380
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f801a36b1080fa70d7759fdf2c9d905549e9aee
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee3b8dff24897af7924b652611bf1e5fa44fd1d2a8333c00c44d7a871e27c284
+size 521074
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d544651c6e8b62c04f28afe6188e5656f783d30b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c256362f1824c98c790abfa77e8591bb17f3f5bd705a4f277e3df1ca6bc593b
+size 745231
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f32cad5c1977c041e7ec3a60a1febab242dd373
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9f41a416bfd244273afddca7c8e3018e53004959d4084be4a9814aff8cc4046
+size 554742
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abf4762db7bb2dcdd20bd5c304ec7829f14633e2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9d17192c7c7dd14ec24bfd5139283df14cd914337028c26fc4d4fb1d1e2e02
+size 539250
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a5e997f4651c19215ac37f1f97b3d493649bb42
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3918bccecf336f61c1e58bd50938ad8275d33dd28db3be67099738b94944ee00
+size 780681
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb3dc2b40ee916747733518743185e8a2f9df841
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178a5bfa76a37b904dc47391b33a460e5ed88e37c5c7f377f91b826db13a8027
+size 1311120
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b18546fc51333007113146249fe0005de578f99
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f06cdfe37d0a3625eea7f14365181cc80a9f581e96f22155ca0ee0ee9ee4884d
+size 853762
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15c932d766f194822fa9eff5e383ded4b2ea770c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f53c58704d38ecd96312d4326802ff5b4dfce93feb4294e9e890ea9f2099b0
+size 870413
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77b1acfb794462e93871759a1d5266e082728bb8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638cb195c693419c494b608c9fdf90e1ed4b94b067db5acac358d0afc1a4d313
+size 155672
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc9faedc92bc57c1813206e2604f98f0149e8d08
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c888500bda1ad0a0a3c204d8d4f4d517ef9d26722b50554d3ad68808d3be894
+size 171638
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cb614727654246ae6d17f3d7861d8912dea1680
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b5b6f6c26b1179965fecb31be867cc19fc720c99cb489f7ebe00389ddbd431
+size 153377
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64c56b8b52d6a261fe1dfbac89bb6d48a153dd57
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88c693c93f3ec229eb6481f075f030e77d8f4f453de80a6ee372e949404e308f
+size 135196
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d7bafec0e0caea29cb726e84da3c8f94342dbe0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0e1305793b986a4886f78a03cd22741173e5a4624bc9346a89aca49e33805f9
+size 620787
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd482590ef5db1e8bd78ffd72dfcc4a43c71f036
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf77c70b9ae67cffeb86bd65596876bafe42921ad8b01c4039a5f139ac85b559
+size 690674
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60e46b12361bbd73f00a8e1c8bdc0910c8e7cf6c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ead5b558bbfd68e965626b104433562881b2358d5d006b54b015b6fb0ea15a
+size 679365
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ecea3c6ee754b53f892cce5ccd397fe0415e2fc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000006_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b33198842f24d49158d886e0e14ee6c168909017e89d6deedf9911ef266487f
+size 508042
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53f7fe889e2b31e0159fb9cd8bd7a26bf7ae4993
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf263e7bfb840dfaca6b2207cd475270729eca5496d3a0d60199d3019262573
+size 522475
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc0f195d07ef1251aaaeb0f3695ba1e2859fa5cc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cff0b3c0cfba9187893abb458d14990640f636951f7a76ee8349b40bdb8cf5fe
+size 564191
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c23596ff876bea442750cc2fe3e9f914c865192
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab39a0f8ab1bfa9dc86de0fc2a558290a387fbe161bd891476a55cafff3fd3c2
+size 538412
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..352d64c457204e07d8f47bcbe2ec0ef8a93c75da
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:577df8915bf8ca824673e83e1530cf0479941b0188d9c7e1f56dad903343d194
+size 546378
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82895f4d9cd31b02fa24b7ed6eb2070952e34813
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34461aa2e54f11ef0670b5d7d97dfccb69b2d02d262fc256e954bc22bab1eb7b
+size 470734
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7e17d31fa69e9b50f9220b0da11142382a62b61
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d47cdc04b5e682d0bbd5018fc2bab3cf1fd1cf5bb48efa10f092c62075173cf
+size 454497
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e6c6bd229f9c4b869478b14c588b92b8f81eb47
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3e036b5fec23be62c7626f7092d63a019c2efa7620d6ffae09d8a33befd6d9
+size 472926
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8e14c7041a4a89de921335e7eaa0f317fcb2346
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1532f03c4027e1189b0cd4fc863840c282c9d29d47b6b071db954af45e1f022a
+size 489605
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e22e582332a8a4d1225d05b2ae475fc51a310296
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5419fb54f35bdce5c5b87692bc4365e7a038252de0b635f596b435bfd49708e1
+size 634840
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b36dbbd3bed0d7d2bfa325f46b87c3c57cac7a50
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0425ed6cbe35335f36d4d44e67144a5a31e93e4491b0c4ee954e86a4fc54452a
+size 540649
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..223a5007feefca75051b651a106f782f5dce5f89
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0bf4353d883bb3fe918ac48ab93dddfdf8da67c87bd54b789812b5051213a2
+size 588273
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a791bb203834eb32971ade11299ac438461055b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad552ed1008a1af2b8edc02ffe0cc915a72b51c343725d6a2c6afe83a598a7c
+size 583626
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d34d66fe4cb3c257f122e238a3efd62554c34893
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc4b3f9e4db7927605a25f461bd8c10173fc97a4a7c8346ce73097fecee3b86
+size 852066
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf07eeddbde0baf66c2bb7ff750c209215d4d748
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04bdfe183b68cba97d2d7fd15d7688f3085bea7f48540b860dda3dd562c422ec
+size 1019837
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a27ca497877eb88a8bcf41844ff01fa3643ba49
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7540bb98d21fefc4d87b09edc825267e21e25079bf8827ccdc3d0b4bc842b5bb
+size 714867
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6478c5f110cf1e4c3e36e2d523c7cc57728860b4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fef5d05c6d1d8507a12588865aba3c86bef25ba2775a949f9a5ff355bf50dd03
+size 770167
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9f99a2696a1b520b6fdf8ba06139eb51421adda
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b67aada347cbcbecb6e2afe106d5d09ce09ba2ff2324dad6a299f3cd16351fc
+size 116066
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79e0eacfc6dbd38b50b6d019a1d70e3c981766d5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9c944ae8e5ed1485b673af640610f0fec19c44209f45023e2fc11e01b5397a
+size 127273
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d10514ecd76ef0424a89bab2c78f49fde016bcea
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c65aee60e9b121b05552b94c1768d4a1e6cd6335d9e5aecb02d704af68550b14
+size 101999
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daaacbfe97536e96268939157d16ecfa5c10c29a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba66c0fbef972c22016af45c5eefdb881327ea61e966f381f17dc6682701a362
+size 103127
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0244eebe5a61c85fff291dfb82c4d54727abf474
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42a34db047e5c52bceb6103c7aa7628e4d50f5548707756e828a6454c1c02f01
+size 655868
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69b9a32e17df22361947545823b15d10e2a455c7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08faf3344872e450af0dafbe58980d8c2acb751baa153b596523300d489e0132
+size 706907
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4600aae4bf7b063c8a2e280eff9c015f20e3dfb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db412bb030aaa16b88f7e21f1b1ce32c2bec0c4ebae7313f4623b1d7a4f824ec
+size 541649
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ef8e6a5dc5a669bd353d5ce4dcca79b7174a699
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000007_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdbfdb1f8418ac9f5feab0de97f14e5513cb7f8b6d9d0ab41edc6848d21550c
+size 584143
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef38cdfea09181c53124b9723dfdc10ac0b097e0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032e6c16a151c4ed0b8598e82e8b9e1a401ef1c912d668fedf90c1f4a1ee48a4
+size 503670
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67ab0fec885408305ab78c90521e1d5ccee393e5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b5978eeab68b872f77defa87f9fafdc954d5e0e5d6df2cb231cfa4d73b3a3d
+size 576398
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..553ff00b552c9324a189c51b1c04312c0d0cf429
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:694f9662d5832c4b7d70ce01e4395cfa4a1306a3257be2cfb5efe352c80a4d34
+size 585302
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..64b042b4f34bdcbb170ad6c261c25aedc8c85755
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e135fc7f21ca7c77cf856ef3852e1a5227900fb7a65e14362e3d448ce7ba9563
+size 467579
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2585a80d1e6c382f42aeb656497b169bec78a4b6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a739b2b41fdb1d96f4163377d497ea3e4272bac70b4b6d11159d0fb62cb0e06a
+size 441756
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0989a475569640f23e76695534ac42a16d146495
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79ba9702a3f8dbe91eb94c57d4a380d48bf0d2724a54b2b555fa2b90efd1920c
+size 503796
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..976c444b4ff0b85f70916d9479942ebff319d3de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fe3903b6b6f708edf2b8db1a32c4f8a570921036214ceecf4ce231e89ad4bd1
+size 526467
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b90915c21993a450c0ed81dc600dd2218dbe9ad4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecdc4e4a70c9f200a3d8fc2ff43e78e8548e2f21fd3bc2cd5184a4781d2333e9
+size 423921
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9093945af6cd16fabeabc51c7bcad63da96997f6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6922e681e6eda153b91d2a24791517abefa20fa020767cd56059222137348c
+size 561102
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cc6550c81baac511a2cb19012712331481ca5bf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec83beb6b1b0217c96316d28fa5efb37d79438642477da0f968c284db5a71c85
+size 611151
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78ae1b8f936078d439a28b2f98fb98d552449c69
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ee722016c81c0c02da11ed86a7d3db118afd87056d3447fb87d70c44dac553
+size 665272
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed723c70801c76805a36470552e9283327420e48
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28419d8114d9237b71116b2765347f8a1c1970086600a6c3860518cd7db03cc
+size 526974
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0610b852159ce61ebd582c0c4b20190391a432df
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0228b2032fd019c8911d3949dfae1ff386f3066d39b105139470283027f8ed8
+size 746130
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7778c1c7fab10d095f44ac4c71aec92a0df02167
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2c1685af3eecefd262446335f05c447da1d29b89e5dfb02b8fcbec2f1ea875
+size 828669
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20390c0f00dd630fc3d28236ef9b151663e16c74
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da3a420bcd324c9cd4fb90ef30cf986fe2d240c85923721161eb8cb61ed4058b
+size 1004590
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecea38c0c4606eacfb46ef348f609586eb73f085
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ab942ee6c2ddc8e235007e5a3f24c6908498b1f496bcdec43f04d68ff67def
+size 698647
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f6fdcdbd0670043e8b6ed135561c4b36cd1eb52
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c239f1b8fb6e14b482a41fd5b87a214eed8457767d7573068a79a0fda51d4e8
+size 109495
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66307eebb7c6d7341da5a6635080a917dd4dc7f7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a335c8fe8c55dfbe3fc3965ef944a1c89da635168b4d36b81e5c44eb35854fc
+size 113060
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff9e453a3cbee214ffeaaa5519daf014c73724e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b71dae8152c499f0ba5fb928433b2ecfab525d3c670bad23e10acfd0592aec
+size 135686
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f704b1b04c9d4b13107665816f33aa20f679602
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151621e9323ecd230fea9e0ee32a59405a472c5828a355862390c5d2d805375d
+size 114147
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fb0e8327632c4c4f0a67009536c6a5ec1794507
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce85182a95811cbee38ed10c83e6bccca9e2885326456625b7ed41def5d739db
+size 617498
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d32603a219986caba97cc4234e5c93830a37c89f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dbb7d047b73f37cddff05694176a021a04902a74c2c742a94637c4312908d65
+size 557368
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7558a89c069b143f3c53868e90d8db74db7df8c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381adc5a1e774dd5796fb4829859705ee1734b463a1a862ee97cacbc905c4b08
+size 560640
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b3bd995e64773ca0135a175898736b51dbf0bc9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000008_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d02b8d3e6a0aceba8a284c2eadabc326ef41a80c959c3ec743090521de6baeae
+size 601601
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0d2cfd9a0516edf61dbba25bbcfa6961c4b7a8a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c453838c3f051b0e13f7dca2d3ef1050502e8f78781d52ceef5a6c144f75ac8e
+size 430932
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..343f677178004df3fe0e170529d71e4eb1a6afe1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d95461d79ec020d937db0cbfc77242186ca31857560fd005588f833d2b1be17
+size 509378
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f36ad70daf0fa6cbc53913112b402c4520b3019f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1def369a8ff094cfc8113d53e2984f5c5f34496a1d6edc9e320074d29966eba6
+size 450175
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42bf3092b75abc667eacc5ce333e89713773a783
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c32959664382ae250be48a7ac840062394a77c67d717ad39686a4d61a615ba80
+size 489240
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7a20878d3975b1d877871f679bebf8adec1d0f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58c453458694c95275c6a1b869a5d660a708cb44c3e3ab26382e12fc5c2df835
+size 401304
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d5534d78432424a0cc8b81966b0fd30cd750ca1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48b29ab79b8a2b994f186160401104a5bc8f44e93a1f04c01bf0c8c8f4a7d7dc
+size 429035
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5038545d935fe531a34c450d9bbbfc8ed73931bf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565c6e05e4b69404b04ba2136f8da3d7a0d001c7cc86183c7088821c616c8ba2
+size 400823
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b10d08e4d6de23b9bfee3ca6f3b598f440bf4d3b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:360c0a0265857f8cfa1500cc411938e50e0aaf348c69c34cd1a7610ef8c8312b
+size 432051
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b4f23bda767217361dba290508f9a651567ee9b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134ff2403352671904daa9f4af3e43fb4411b760ebb4e5c7eb84f68acab3e44b
+size 475245
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..147bfe98412a849aa362300ef4a2a61237355707
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f56a5738c98f398293513ef827782929b056b5f4c3fda0796ff4b8a8639e0a
+size 484823
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0aa3944766bb32ca1eb530cef546425efec378c0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54229f26cab97eea2c721558d194010e69a36fa866d209537ae1bb3662ca231d
+size 501849
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d808aaa8f157396a48215b49040e777cf80d6fd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bda7bef3575fedca1b6a0acb0690603844faff64f787abe45f0a9b7f527af9d
+size 545339
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b8f29bc25adba05fd8cba0cee497dc073dd07ea
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:378b3826f9e9b99e81b62048b55a4120ab5f6c176b6cdb2c5f1db3bf3d24240c
+size 827202
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92e0d14c307849ffd2deaa8c2d57a74ce90ccf22
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6469d3924cf4d882aa026aa1beeedfa1c9a41af2eca92873c79ef7bd1b134ff6
+size 680934
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3cade2b01cde9c96e232acf198e40f7dd80d558
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8478b719a07ef2a61206a74473fb3e525d48d11941abf014ada261dfcf207056
+size 759374
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2eab5338183b9fe89906d1f3bf26a6f694d394be
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01e1a2c25531c4411c56611fd0245091bb02204feeb75b9ef04347f7658bf00
+size 790331
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..07a2b36e94516e283f114f7376588b55464ffad7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3542fe0c340101895a0b66e1d1141775aa8e9cb5296e8572412c06951b49070
+size 126502
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..192ce4e43a6165e085157a89d1f62337e8bffaea
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26042e950adcee7353228ae6510c56d313f4c1c7628f059f05e694773df70649
+size 121118
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29cb0673f40617019848ed688428e3618665087a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09688cad6be3712f95375b94161e6c4210093c313c0be570fb40b11f6ccabee1
+size 139411
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46f9ae55c1de36586bbfbfe6088e133317f7a1cf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e41c2f031bb62987356fae77581b9f22f3fbf68dfa83c2ff3d7b69543128822
+size 153945
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfdd6b5ef9182c4158dc7c5e4f035ba7554bdf58
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f99e2dd7752dcc47a348dda6821f3cb4d1cfbdfa1497d65459a66dac4525e2c7
+size 550567
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5389508da4fddcce6f45fcfa89e17453ecc459e6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2fea173914f08ad0b19ed430ff5060aeb6b918138469479ced709822826ae11
+size 559940
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbea2aad77a7d45f47f52255e8b5ff2cc2bcd5bd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c57a6d4b7f9c73e9fe662f37f7ea52c936e71bc13749764df0114cca5da56db9
+size 646182
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80a94c22522e91e8368dc2ad56fcc8e4fffe6409
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000009_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d630ee1bca5ac51693464929f47c29b357a9e1e1c6b003d42365114df99636eb
+size 632052
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0144ceca6f031378585968eaecbd0ca836a596a2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf983475c8070ce7e781798c13d14104e959d0befb147b3ee1cd16ad2d4e9502
+size 513686
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..229631e11af59ea65eed0f36820390499d9da352
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72fc43bbb8d8eca4719252634ccd21e80142708e41e87952d916a75e3afd715
+size 502945
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7dfcc1efb99a12482c085e239d6bf0f7924b282
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f08ffe61b57aad4e7c2fd3599accacc8004b0eb7333ecd2c85efc9bb4dbcde
+size 401048
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f2180ab0ea5166db53923fe3f946c527f7e5a5d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5a5c802e7dd419ecce7a7df215200ac21d36974eac2756b94a36968b52ee229
+size 578448
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..567d5342cbae3141cf682c302d4aef4c33ef0eb8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac7e1a91f996c9c3b2e6674e4cc752fcfc2b6041ea2db67e8997a769bfbcbbf4
+size 457545
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dfd107a947a8be0924d9e5ea107b417b689cee3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640c6f1ea6d97d0350871e79835811d9e304af5b3059ac83c0591883eed1cc09
+size 412333
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d2ce89a50fb3f3588ec2ffb7b58f618e611fcb5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d2cbe5acbce7130098178089c6295e843e406e6d412c6bee2116019295ad838
+size 339274
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c01140a6071e698040c9511ce6189ba69a300b4d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b7f65be3a64f828f134e7776dbf19a735879cf109100c751a0eeec545446087
+size 476224
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..421960eda52967ad8c959c0f31ae76b1580572d9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1703274e5c037bc558681745524e6410408c5944dd6bd1774ad93cee12830fa
+size 556537
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..074e88f8a57618f8ae06d604e2770638df653117
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fffdcbeca9e1f8c28ce9fb4d3fdce2c8a87eb57846a69650640320917b72825c
+size 593504
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4815ff38afc6ce431d86da99cd451e9739d28bd3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f5bf66e147a5b11e2b8c9a19e73699058104d5f9048ef5d9a3c0a8786908eca
+size 499302
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bf4e7b942dff3e4ac11059f43b1342014357b86
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c666fb7e073b1234f667d31d7f73e45b9c073bac9f7cd0158021c806e3f62b
+size 608650
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5202c638e3f1cf46061e9dbe49f7df906d84b09b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37f75b1bdf1d44d63f81122dce6752f8e36090a18270b2cd76ff90cf627679e9
+size 737726
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc427aad11d67ea265fb77cd6f251f7246fd9bff
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e596c77f837469834be70144f0bb99d5f7dbb2602af6819e1123be677dcb4f7
+size 971361
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..994c5e8ace5147ae0ded430bc567ed0e4294d644
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c237487d546870f4f57774eb19be4280906649719369d9569930a54515a7465e
+size 695295
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bbc2f31b58d2dffdc5045d171284f0b2e381a5c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92b47ab0f9546cda27e5db10c98f0de25848272cc16131d5a85a42fa35fb7d74
+size 1024587
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e262a4f6728d6879d507f4efc9ecef57a098d86a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e760177a04d99bdecd82fadf6894671de0077b88457838238dc3694eb7bdbb44
+size 107296
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61d0a0540c406bb3bf566d045deac2dd09995b55
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:518f2a3c82f1c32b75df5745eab9a1b3ba722567971bce527c66f3e901fdf31a
+size 127727
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a7cb1bf4089913e8567151fea434007eda35c2f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799398bb81e9c479ccf25a57b14bab8244e425de2a63b18544e0693c20bcd1cb
+size 122789
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9198996eef5264c727d73528d34cf79085ced3e5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b22756553a8600fdba253c1568acfb748b416fa408fc2b5cdc900fde7d22083
+size 123768
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80bb5b3610ea176ddcfc5501ed3e98ddc9e92e16
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6abc3b61a1d4e8b8f99c86577160178a5e45da16bc1710295c28e557bd9654b0
+size 522441
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05d2d12f3a960fd15e188aebf31f0e2f68f596d2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:267bdefa36d30e6a583c458a19cc239728af4cc78c604127ee11ef113bfa789d
+size 701325
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a50f8c5bf61d7ac189fece119a01592c2e49a7c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d45e5020e16a940ea8c99a2ebc7289f27637c8db2cba9025e12e1a63a3a49d7
+size 591815
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3b41168a50db4982aa9c6ba3711f1412b871119
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000010_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d785622f3ece56e5ff6e822b9779e81930a076454552547e5ba13569b1aa0cee
+size 606582
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b33d23717353ada9ea459118a7113914fb7406a0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c368c33344dd1ece2971615c95860c6541015ba485a5f2940f0177154a839042
+size 468442
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a409f0a152e25700202873f69e6d5d820a5838ff
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6c328c17df480c64876c388af17d3cac4b68205228af31c7cba8eb0b45a616e
+size 542339
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3b39f7bfc4e09e693144652ac2a7df650aa9df1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d6c8563e2e38bceaff07128c169b98ba1a6e64921f00c74b66cd9ec0a4cb724
+size 618111
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8989997e5e4af7fcea9983a286a9e7328f23b6d4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a574a298343d83ff658ab1e78a51f3d73d35b7f2f0073fedf8329bc79cb437
+size 508298
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c716553c76b2d9ce70640ca0b2d4a54d9401b79b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41a91eff727c3169bad27f3d98cb9d0059c86206585d3eda7f1e81f2ad13f87
+size 397470
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff05bc9a246adcbd2040047b61bd1bc57f5431ee
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96490b35657642500cd41be5ab65f37b6418c59a563f79adadb76bac0787c451
+size 452312
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad02db3b72749f58cf95d73a68ec80dc429b6388
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eec12313ee6e13e479ec887f6261932ec5610524ab1794fe105d9af9a9252ec1
+size 561519
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09107b2fa294bf3f6c773f86b01a6a284a7d919d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c8c662fc88fbbc2646fa17745552e352c5c532c10dfe308c63a56c7c4001df5
+size 437692
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c938af79bf17df2b328ecd8832a2b782373ed998
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b857e30b2c2e214aa63753e2ede532fef3455bced1d868fe6ef614885ecd3f78
+size 525436
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e6e018036388a0fdae0eb61b8e07977f40341a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5c26b73c17935f3548d8f2b5896946531282d734dca93c2d6aac20c0304273
+size 583019
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..393e1cca64a034b3e96940bcd26490de5210049e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:657682b46c576073b15c8d04ff328c991905c155495ffe39ebbb311cd144afe2
+size 717349
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11e71bb80beb002cccba8e508ba5234ef0ee29e2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c81e1acf7aaff0cd9bfea9d8671117705d6b5880954631b01cd81ce8c68c71
+size 589129
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8adf0843afa15d3f780df928be1d6c1758cec85d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a16b3e31b6c2c2b1398fcab69fc4cacf9f7293f245f01d55330823b5791dd02a
+size 745255
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6c25d763500ce6e6ad094a35f5f89a453ee3f9a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a737941377f516ab24e726358a47b054d283cbb3144f6620bdefb0d034da1d9b
+size 754544
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb4b5478ebdbf208f90c62b7323291ce9fad1360
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed4fce47e0fcf89f1da5a8742eb02b579b8c29438919907832ab3fc798838df7
+size 777875
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de7c1e7624757391e9aad698665e002b596ef052
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d385f84919af7d04921175aba54c3def2c996a4816f9a4ec69b1dd232b85322a
+size 825836
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad1ead74e3555d993c60627087afe93111304123
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76623113d185757bd1579d7283cc2774a445b379022090ca2b4ba2adad621b38
+size 142474
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72e6289e9ab6ac42e778b090040d0b05c84c2a87
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc38f70c07748dda081d1f44b2a56f1c2d3cd4fb5ee174fba03b989ad155c95
+size 158298
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c8caadd312f0d2e35d23353f0cb674354e0d228
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff94854156c75f0978f2d3e5dd63507cee6088fbfe1ef361ae6ccae31cfbaa1
+size 117268
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c01f6189c878287e6981b478aa2b78b4d66a3ac
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bf277966b3cddb76ad7d069297a5ea86ee9abc081f6f691901f791719e8271
+size 154661
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4c5cfbcd0e913ecbc1f1b3565fe7da47b464483
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:850338c8251584311b64f33c198fbf8bf6402eab8864613b6b8d408fb34af577
+size 612566
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b92935f10c3ad0f1060d64989e1fbbd7ae29007f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b17c1fd5144909c7b17a883b7284567fc596c65b1645d82842578a4635a2137
+size 737954
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4999a7624f4e997a8de4daf92a5ca3b44956e4a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3646077702e22dd5efbdab67608f39c725ba67da0ddb2868b173cd0d4df11d4
+size 571928
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1fb5c4ebbe2bc258d8a54cca76c84d08cbef9b25
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000011_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411e69e0fe7117393e9c7fcd45d9dfc81706254f7b6175762060e0a0cd838c95
+size 682372
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aff895eb1976cea44e62321d02ff6aa306e33da6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:165bcc112e416ab2f07f51b8f30f8b06c95d67f882ba30547925015b23b99075
+size 564183
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80f2f291a40690b5636c762d4264ce0ab449ed9e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28f9484e3fbe0e58c397c3582b2e638ae6b1d0c9227a6056506b5624643837f6
+size 549677
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9987daf3fbb266d7068f1f04768eeebdb8d635a7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf1d54907d48890c8cda92ec4225f73e7dbdbff442255e987bf7e84588c0e51
+size 550037
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ddb99f8216931dc06f1152eeccc26aa4936ed9a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb817285dc25de58c1bdd591f7e80c8ab5e0850286ea5c7bfba55f9576767388
+size 472250
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63f6cf114c336484b7785dcb00a5bbdac07f4151
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0173d7f88a10bb89973751a35e782b4247b97140e13c02d8e364d413d03a7d07
+size 470231
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23eb1a41492ea3db9a1ae96a85c8d3472935c097
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d38da8a75b4aa9cc4ea6b4a6fd00aa50fce46ccb8395b84944b88794ca615a66
+size 442465
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4c7f8f7d2358e4bd2f80dfd155f9fe7ed544a31
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8448740cdf1fc0460abecbd0a7efa5d982a9a7b238489cf06b2560272ed1fe47
+size 470145
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29f9dc63b8d469692019d3ad597e5ea52f738e2f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72792f96a210c79e5511e77dd04c897f0f260d7007d07ab6443bde73fa44086a
+size 410071
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4509f40e2dcf2d89159f183107de690877b93403
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0982daa597275f269d0d75aeda638ba743cbad1d7b77f7ea89a609a029c1fe7d
+size 660189
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc17ec68b0bd3eed04dde18bc6d739f34ff52906
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437e7301d011c8e04490481724da9a9587fe5fb58e19fe12a3f40804175b7bdf
+size 578293
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..371ede2c6b1e1bec2164c17ad89051d624accba9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4123e055a73060a58718b26702e174cb349d2e12e62c163552bdf63aee350b3
+size 522839
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97423811a13d8caaa9cbdea6cfac024435b08dba
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b837ee5cb41d17639c1643b2694b647f500ebc4bcf70c5a68edd53940400f2f2
+size 482539
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b4bc94d5ca12041620a27f29e2648eecbd9cb60
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e55199ee4ab4575d8d41de245e752baccc08a6346059cb9b7e26b58585daf3
+size 1051464
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e03780c097ad1e929675b49f7632a31b0f8ba1c5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:377824c5aab443e38923f69953561fd3ccb872549a67ddc1d7d79394a2dabd51
+size 1153980
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cd99ca1365a17f5831c3b26063de9d0d2c64716
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfed3218ce0426817b527b42a78ad69ee75279cb87720895c8b474d595455c35
+size 730033
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..183900467d212c515581ff32aeee83b1d5be4061
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e884f21ac53e757d57afc5ad3419f167742bdb8b328038f80f2b2453ee26d622
+size 685460
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..380c0017b44e712efe494dc82d317eed3941dc3b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab6d76086173c6d13b55607027209c0ee184abdc3dee4ea67b96dfeaab738d6
+size 137777
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5236d7a9d574c285778aceaf742f03bf7eb4f840
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e913b33aed69a83c9982e67c5758add48af1b63ae6637fc1484b2a13391e0a1
+size 148839
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9121133f3e2e7257597fbd47e99ff9b43e1306a0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5241e715bd6debc2b9ce51d355f27dd64d734eefa1a59bd4255dca05ea800c77
+size 113410
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b997ac71bc624f644f3220f9ea5538493e78407
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966d637fb46f702dc4998a2e7c5d2560092be5c78e1d81fcb5ac87f390934acb
+size 118903
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f42ed1eafe4fe0c3512562495fc0aea4d2a3cd2e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5510c2409b2bfdba91e1c964f0273242b8b10a0969119b79a63c2879881004f5
+size 815859
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01529bc83b6863328ae39fc013e68faea8120394
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b76aaf0faae2f546305237d15c6f070bee53387547ea10c2786f9f736262039
+size 715672
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..220e8a4637fd3b8143bdfb487722fd9bc577e4c4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549a914fd73dfd992e8ed788d6a83c6da462d8ba0999a367340fa1bf252ff68a
+size 572243
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d149d8fa6ca9074f4e5831ff3e6eb6b06c977de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000012_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932146735eb84d266ea3a61186c39d6e183aabe24aea24d3100bb008f55d75c1
+size 599023
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae864ceb241beed4974af6dfdf9f09cafdb5f2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63707fb3d8b8119489299df4a1f5bf3438c4cccd3242d4ee415246911ef3aa1e
+size 545302
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ecba098e7ea281ee1d7ff67a9e5602f39cd3c00
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2cc8f13d9895c593617743f8faed3b9bb60615261bfea80acb66fd462fdbf3
+size 522542
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eca4585591769f1e3e2e47fba1b99f4afc51168a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5227470d6a7ab57bd61b62cd7e092f888453d986521afab7a570613ef2f0634d
+size 631385
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ba382a4ce2a7aac538292ce28f18f4b15a1bf6a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e116535dcab254825e34d1fb601e31e47a4f461d05877f43a3dc51abc2c919ce
+size 471444
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..784ffd4bd264c00ce69df1b563fdde6078900bb0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2015d099b79024854078c9ff8d009fffd387532a874833f281d78edcb0f4e39
+size 473959
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f448997d396fb6255a317f2a2ad1db9226594805
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e6eeb2c8de867e368ddf9502d50253e85481f738a52099c20d5340422e1ef3e
+size 450438
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f19d587c050ab9c41fea18d5b05bfed736b5412e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b418ad9a2bccec6c6ece95f63e9b56557f2b5fa1b619b4dfd3ae4f1284a08cbe
+size 562355
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92ae4471abba416cb7d66b0f25fa2593ac861cc6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb13c7446ead576c8a97de6f0503432162b100f58e32af62768dff1e38665759
+size 405405
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..baca391ad40ae3de1ba6782bf676f393dafb0b2c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a436fcb42983826b6ff11f8f118175b849d4f8b632474b9b75ad19b29927b5d7
+size 604797
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..711152aac00ba0aa2ada45b3a614cb3e3df8ba50
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc77bc8ee437f3f7b6f691d828abb9e91489a1a2da29293e8bf6425fa8013da
+size 578043
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77f059a22ccd4b7235e7deabace36b7909388eba
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf8dbc61a69720bff8697132f3f1db353a21e786d64ce5b880230076ba064d0
+size 629071
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..883ec068d8c07884b4469401a5408a99480fa760
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a313e3ce053e74def6fd7f3d8c9d1e9a4ed3e877ba40f374138fed9a4e8661e3
+size 529685
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..485d0c4b52babb9459b312405d7f3854ccf3241b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8504f8c99d0fc3b186df34c17ad5ad4a3bb4c859f868714c332e4afd1030258
+size 875190
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7f53cb91da5b0ee396d96e242bdbbefc158d8e8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e46caaf83808740bc59731a3ad4afd753f544ba091ef1638930b241521eb2fc2
+size 988775
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eca42593deae7477c291c98e24abf6c318937258
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2561334e283d6befb25145d753e368bf6e9aab54b545f1711995557873bc570
+size 843854
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1589d91b07b2e3df0bbf9f16971b8a88332f008
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70df36d68a917adb0ad3c80370c2d0f95bcc6a21ae0404c126af0fcfc49b11f5
+size 795111
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..526df069db643c4a6440304b1dde3ea7717e51d3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a2d626858534241c6fce827622f54abadaa6c3277129be5ebcccb2042765c9e
+size 112384
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0514d6f0081f5253d116c620fbfd2eb7ab27f196
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce9062aaa47473cb8eea3ca3ca503ee073a5ded37330a1a37a56976b047e89b6
+size 141606
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a36c580ab9828bba382a4c0c921b5a855e37b53
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9841f9ab5f8aad0e7163fab34f93e9bcebe0a8ac9746c1456b06628431549b04
+size 111207
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b80fb11cd8e231b1913f6fa48718f97dfbb401b9
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cca09257ba818665aa799b76cf31d0992be6eacacb14a5af88eed66ffdf3f79
+size 123221
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e54d62754ca42e532f3740b58ae5b029a1b855db
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72b5ba3cfc371b3ce004c46d50603a12c6fc3fdb63502fc693fe7673e2ef5fe9
+size 666855
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee8c35d7e484cb3d014c3b379ca1c5c3078f5c77
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bb4a7eeb4b0db8397060df92079293a05f615cd3d650080f5f8f53b643d46a4
+size 612923
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc4e1809759c23d84303b816425aaa426fa058e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:666f5bf35cd9b7d9c1f45b1cb7987d0a8c9940b4234ef5c70fd1adfcf52f00fe
+size 551306
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6db9f44a05ba99ff5fdfe6ac944d0185a2ba8960
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000013_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ecafd9c166fd48c6670077e0318891cdad1662ce1821f4c8a7e582a2da6b869
+size 670842
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e454002b5547b3520f2b385ffb7a3c4a9fae583
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df04102900ee9a0a128d01244260708638393722dd1fb6ed00f145d19a04fb1
+size 465015
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0386423db414577e60c726408b73ddef9d63c203
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc2dc23b19b2700a8322aa2f167c11ac3c72bcb87e5de19420efe1d980d90727
+size 448693
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f05fb9f969957d595fa1253bfc52c28fbc59d56
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cc791454e205782b8573924e8172cc2290928ef0555691033b10373a1faa5d7
+size 477352
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3b20851d2984bdfceefdd88dbcfac954bc1881de
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb6ab83673567b5b9274df3dcf998d9921020effbff648b165670bed3e45640
+size 420710
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ba13f817669359e7dc0c1c53c48e7f8d0ef1f6b5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe01b3de7a97625184a2dad19722b0474965e9d933d21f6d105c8cce4a82a2b
+size 391757
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3f313ae8944344e0d058cb4a5b9739503f6c439
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9bf2a60a6549a86e418586bf33ccb51288982a51876befedc5aa5ab14e3a559
+size 398569
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76fd65a119135c4e497756d9b4653b5618350c57
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0930ad958af9e9937156dc90c8884e195fbf29385e8983e32b544c72fb114928
+size 425436
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91157484a2d571689e0de44840a18b783e7cc140
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35689fead27ee2a0017707addff474101fa17e8aab8beda41cbe2da293d40e89
+size 364726
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..34a9aae2e083eec1446b77b9a79025b944a098af
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09168160b6b8d6aa02ffad0361317e1dc3e806def007435952c72825fd7efaaf
+size 567109
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbeefdafe5c0374295b3c9411210fbeb45b20e7a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4514137a04ac7dbede3726c594d91b4bdc2777fa17a06dc85518f8eb2d2e3a30
+size 554382
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..037bcda8ecdc22679d0047992ac60644f38c179b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0dff220dba24e4bc31950206820cd6a2122fa565f1348ca9ce251368bbeb643
+size 603477
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17c1232468efcc4d362ae4a339109b66e3e8d0c4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147bb87d5c219661a862180990c966fdc1043f1e6c1a2f3d67b6646d2fec05fc
+size 514573
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9235478588a5e0ed5c8759f0d9f20d255a283420
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8b1137c439f1bbc9743d5ce1c287b9c5a329129564e18a9f3ea12788676cc1
+size 816866
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c670b63d95840e3ceaef50d8947340f73292d9bb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c14641a267928006d6e14f0d38d9c760a803b9f286bd539b4faf3d35410a301e
+size 781788
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cda92c12b730d564c5e49e4f7fd0ed7975264aa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72bb331857b3d88bfab27ae5ea333bb7544f99d7f3c132d3b310012baa335276
+size 682038
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c47628cc1474992d72e1d67a109a2f26e7aaa1fd
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa480a37e0f055d8714ad222f225762cc3ecdf88a853b0af8d3cb7f437fcf286
+size 709604
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a8548c8dbe7f92781aab743e38334a101d215f5e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df0318c434b82201bbd908cb99732de6c1b64c142228db511480b53ff8b2eafa
+size 149120
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..267102f47a19b9782459e97c854e5486920d322b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5186cd552dc302353b4b8646ad2bf3923093715017602c19080b5e7d031876f
+size 132084
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ff116c3ab86b2090f6095c9cfe970dec5da3456
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15aa3f0371a34506780832e44918d6d4cd76568237506ae7b8c2cde3d8367962
+size 107691
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..455a2e7c680b6a08c3431fb96abc2b1cb777d9da
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed50d0990e6edc8c80241c73ae76726cb7703f8335ccb6d4ed8fa778949fc6a1
+size 119106
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5b0603136145fbc12a6debb3d7aa787f4918f81
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9e2fe5b13f9b294ff748d0aa69228a5f8e4a77656faf04fb24b9149937aacf
+size 726138
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d83e53eec0c0df5591c6bb264ad8ad5d2f371130
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d471652759425ad905e5f3c6346ee3f4b8075c6fe7454a893f66c0c8792dd06e
+size 614914
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c13ac9f102ad33e092b2a601dcad17ea23a393b0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002f1f2ea5dd6c4eb3e4a9782276bc826c5bb3b0b459a79bd8e9ddb967f811bd
+size 551603
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a56e7faba470648f67a0e1a3c1031257afa6d694
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000014_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ff5ec2899e326e68ee56a011b4c35ff65de0e0c7a649b7c4f1b9ba9f81af0e
+size 634220
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c81cc1fa8a6a81e4abc55be9e5090f77ea8079f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9cf52b2d78749c073812e4bea76354838c83485a96a81e1061d7c09ee8a3068
+size 444193
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e48ad637b412eb411a37b64440c2e2843f5b9141
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66d28b8f15342ce6759f79ad643fa4d6f8505d606855b4b4f406f65481e25b75
+size 477489
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd655821fd0f2c24aab2fd204f50236a4135ce0f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c038d16d144b5929b1b0f50a5419b76e7e3fe5729110d1349745ed5f786f5db
+size 520643
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cf307c4326cedf74b01bc132e92f824bea37918
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7687fbd1f6b723350a7e655cd6c6aad6f893840dbac1e0480519f8dee24c6a70
+size 638417
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bf539a9f5faf8d7644984fcba945f6e44b66763b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22fa74b9d3f9bfd2e09a1d65d8078bbd8e3850cc5ce6eb08f8d2e751192a3fc2
+size 380693
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..625e3e7ab336765928f86ec021d70b734bc8359b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b710519957cda1f1a1ae8e2fd82a639f59239a5e760db90d777dc5f5a6833ea4
+size 415088
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46af6ab073e6d4ad652a52cd89959cb0dc470af5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c2422ba2e16bdbc4c7efc20044ffd64320bfd9420b82b0fe500bdf0a15bb63
+size 466552
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca93daa4dc4a0490fcd8128c8ff3f22b20aeff3b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b750abfcbc8e890cd5edaf1a4140f758e1854ee70bd69f486fc8a6608726d151
+size 514603
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1b81a82117d2da5893d7e0ce197e9dc57164c3b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917be6cba1c763d926112c249e90c2aae3e187eef44e0a4bdfdd9eeda449f7ea
+size 517035
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46ae363031c9e77e61e7179f8abc998c07eb8702
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41789bb6c0502e8c2faff04d4bdf16493b3bb949e2071541c9a4f5ef667677dd
+size 590206
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..431fa053a3e496af5d042a708167b6f914a89e87
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa76387777f3154a4d2baac85324472e2483fdefa95bbe227c66ebd9acc3ed5
+size 539373
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04471d32098dc5bd8ef4e43984718876be67987d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba35c6b0d9d1b425750861e1f4ff1bfd70b66bff084e5fe7bd915e7c02be347
+size 517874
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f6f3be8c847e418220374fb1bf00449d7120678
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60a71522ed0a74422fe03700d74c4d71eedd4a5729e3a56c2188a853d8d0088c
+size 808503
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7212e61b3be0ef262e205e2e78f5d6f36d1a94a1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:749990769fe922dd3d19a54ba437134a043ea0ab8e956a1f44301b6e342cd57c
+size 735085
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92f6d3fcc1d6862211017adb4028c13d67aa26e0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3315e32c940a233656f603b999f5b02d7cfc3fe76246f156e0f970d81fd8bd90
+size 678877
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bd99664527247763371237b639c517c77ab8017
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a37b18db1a89cf917d06698c9b0899b2789137f61ab1b0c87e5a7c054b017367
+size 865144
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a087f67a25d7a4e844f7411faad04b01350f7e3c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c211ad5bd4d7c7c210ffe0f2480adcc041ede35f41f7d8466f5bbf99a0293e60
+size 142310
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0080332276156eba95c1a5bbf9337c19015490d0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2a702688a84a9b48e15929c1d9726067de857f0a393906eb8a976a7c60bf5e7
+size 129283
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea4173f4f79b9bdc700d92977025b4e2f2ea7b36
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcfff5f7b041a85a586c0b4be5511968d5e34a6d3515bcaaf98f19592fa9799e
+size 116117
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f239196e65171ea1f33eaba20541c552c8f3158c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4868707a7670f030b437a8e5ba3c76e239482a232ae3cd14ce6fccb735c0837a
+size 113888
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d792eff22ee03863cafef572124c95fb9b0de8dc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4644aafde0c8864d5c965b6df1b64a7376a7ddf9cb02e82e7bc5f18b7d97634c
+size 748485
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..626ca903944b8b073d3010c1fa9f3258a42d63aa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31382768924119edc98203ed386332a0c20da323c022e99aa17d32a0f98f6319
+size 622917
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a7817c056fff9ae859bedf115f58f379c75ce1e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932afcf1506db95ef0c2a0f03a6a12f307255dff65759b0cdaeae2c7546648f4
+size 583837
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6c2eb951761550ddc202c5587d417b2c44dda62
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000015_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59740bd9f41cad3b0c74dc48fa4988bf2acb0f5fe572fa7c5494806b36241ea
+size 539450
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d33f8b9b99227c5c45407355b651945685767e4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6dd492437c94aa52c5cc02a77894d528b345f51a3335000af8c24e9c460357
+size 493406
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f576c5dbc5f99d75cc82a0aff4b634c9f9ae9aa
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52bf5ee6ec6f4b20ea4018b22ae89aa5171ab868dab4bab7661e3e8d0d911c2f
+size 450670
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e7af0e59f4e858076c981b01b89b03f8f22cfbf
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97b23795f8d5755bb39389a8b39a8ee3845cff591891ce06251500fc3f6bf18
+size 493716
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1deef166c548bc06379d4ab879dcc99f9d0ac461
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12927a140af4c7f676962610d10a70b9865c49737958150a3116ae5d85361779
+size 515114
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b0b75bebcdf8c82b648fd952b6f950724905c0c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0624ef53ada45ad90b5f267e7a409b6f0fa01980c167a42d04509605bf567d54
+size 417737
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..19baaa33476e9cdf67e4a8d595ee27f30a71c743
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44dcc6d3aa3cfb3b390354a417e40e9a40f36e8d3edecd9499eb3a5fe34c0eff
+size 377307
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a0bd0b0b8deb5f30b4564efe10e68854c7703f66
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efa692d5808cc89640e01da982d5440d2f1d652dedf29715eaaea1c18b0215e
+size 413657
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3497359f577300689ada23cbb0a7bd43d5342bc
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ba7067235d8db89332539e88a9a5748ae0dba995d4bf6c8ed4a033d33dd7ef9
+size 450743
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd0ba02b8b0c087fd09304fa7d68771ac7b3a50f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee12a46efc0f3892ce2d6944f95fe9c62a8505b57bda96f4739538d1133a498
+size 549999
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f896b3a3dbfbd989260f95966ecf41a68ebbb998
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e1625d7f65b9c1f298cad950bc116bf07902869fa6a30405567999dedbdece
+size 492370
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c09625fa09bb95bbc648d75984d5ac96dc83c440
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49b39759df630937e21e5ba44aa6d10312b2fd8aac3d95e4d0aaea83991648e8
+size 511571
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b71e1e833e0c3542c6d0aba690bed03bad4b11da
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2109dc5f006d24c6ac979baea4f5dd2cf5a1b2e695b2999a2f19afbd0d1833da
+size 557304
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93fd62eb27399f363acd02084de6dc6f9b0f3532
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8fcdb0e79213d79a934358b92cfdd53382ccfede618bf7ad0dcdd34a8117501
+size 726083
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91017cf0045e578dd6ccbc7a034ee116b2606359
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:852c1842cee6e2952faeb6835298696b81879b008fcaa1114b7de1694cbff23b
+size 677603
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f770ea7994a3395d46f276010bb664a31ae9cd95
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c1bb272dc17e3c373cdeba92a5067ebe23e3ef41b74176d7e0255de0f885db1
+size 825432
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbc8a530e99ff410a02fafb7d764032e1a1bc059
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94e0c7b87f8d1a7e4ab470692d73e2c5bbc21305347aac80e45550690708f8ad
+size 937641
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50d7938f60837d20c97643b2f7eedfd29f8780ba
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4422805580da2f2054a6f4b046130df893388b5a2afe6cc53a987f1bc2a1fc1b
+size 130025
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22165660a5756db65a50dae64867d870b243a009
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e2b991c93135b3fe672b87ad04725db1bd7da566610fed58d91c7b6a589874
+size 114635
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13548e603d7f0ca6d32b1e3af535d133e008ebd5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d7f60b52d53f37f16d684a30c7a380d72a0a649bd60aed12e23a3f40809e09
+size 164174
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f48223f9e643fffd2c61e63b51957ca08030ae84
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f55d52717e392f635cd6a16c6dc1b84d85e2373ff33f67a283199e072f15438
+size 164518
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_1_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..43d61b1050d5cd9edc7a21d97244a759a0c100f5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_1_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544d56502375f1922b0465b347d495a730dc8ea124d2031b3afe912070b3cc82
+size 643985
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4da1fe56fb91975159f82bbf8d9a0ef2c53f394
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96cce66f8169132981d384517093873878baabafc9a2ae01d931e6e60b8d210
+size 594554
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3c59e1b9a963fc32a20ec1ad9ea3cffd6b8df3f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_3_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3c1b8af864be0bd4fa85f332b11966804f1665b97eba9d4d97c48da0bd459e
+size 777403
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50bfd6550c7d6f687291344011392a3de5ff7202
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000016_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b4ceac46834366dbc1e1da4aba342ed0473c5d66c6ee618734702c8f62b7f5b
+size 734518
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e9f16fb6235cbd3e2d0305a439be764c6353fd6
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5436cb087889506ff9078d4e00a66893e845a9b4ff0d6072e1a11c5150c13b6c
+size 461365
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2aed8226e2e606a773c6da9ed63de829ea23099
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2c537c4b0fe4cb6201e25296abacc2238a9561d4c191a94177f4ffde73dc9e
+size 637562
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fba25f1124674287cb65d272ec94755f522ab795
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba9695d39d863b0dc673445e42034480e5329a30690f36d7475b71009a37a6fa
+size 416999
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d845fefaea023c6a969cab4d0174430436ee676
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9be8c9bd3fa97571b769c766f7616bec417f92a1932829e65eb72838dd1ba1
+size 566342
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0a87c4077ec4373754190e7f50fe9e7340ce1916
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7263c434d279b97e52d91a936045fe9a5d5c7d9340dda64a5b37cc25865dffa
+size 565172
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47720ff6c765589c4bc690294bd6aeb4ed79d329
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e40992c7495b7422b05e9502fad2f21f14bf4e140b69ff57a41c9ba1bb1c30
+size 584570
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1053818a6201c02104f404bc0ee1c3ee877daa0
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d074bb5edbe1388a7e020eaa42996f23c8a8af907617c2800169ca08ca8b2fb
+size 711969
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf7870c36f0a4490c22c078ec73873512aaa19f2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288e35d91772d352b92a1f546b430a981e638f8daf07fed119be2575d10767a9
+size 765869
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbcfb6edc14bed8b8484f02e1a3a9bb93161d6e1
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8103ff8afb059f243cea509224e38d0b4378f7056a362aab24751ab188fd793
+size 111857
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c329ee3683d4a23ab1f1728a019a8b38b7cd737f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70bd67cdd7ea22b36e3d77b0bd2da8d096e94a6c5059d536f788d23aa7b793b
+size 109886
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ed6cae4efc5a4889d753724dbd3f3010aa4c014
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba81f23d217254308753b703a4d5aaa2529461dfc493e5de9c336b98e5d69f6
+size 532868
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..611191e90b545589bad65436227ea053022d6636
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000017_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1e081537bfa4b0de86c678901b3332e0959306827dbb372a26962e5b395092
+size 519005
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b2bfeaff23e05e9f531fc6fa0d094cb6758f55d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9737f11f86196f3c2be1ca09c546b3d806f58d00c3b55b08729b6dc4f8272ccc
+size 472358
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8de3f6dc44a69fd09d1357b38f77643ca55f158c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f1f5f5003bec1d4a32ee3e2834479f77abbaa3be52d3bbb52aa9d03f7e6c279
+size 465366
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1fc77d3174f0384ecac69054a83e45c2cdb699f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cfee858b3423e95550f5c62324459da6b39e011f585c301b2abe267b2880e4c
+size 406075
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05b2e9749e2f31befc62c952f48de9671969d71b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a9e74f86e772fa2d33b5b163b01cfbbd0d9813a87571450585294836a92ec4
+size 381803
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f80c85d06a398209ce5392aea4e56eb11bea767c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7282e97a7c652b3b81f555ae41fc4e1e321b7fa5522bfa0933302c0beff7dd0a
+size 538753
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6852195cc225fa71ecc84891e069ba8ad5c00a30
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_exo_camera_1_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1be6df5bdb223d5f26ca5e863739ff11e943aa88587b18b949352019a7ee38
+size 483726
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15669239f8819bfa2311cf1009cd6671cab3bc51
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:242edeb25589c27124ba77fe68498d72ba9420875c11c99de69abed9fd15c791
+size 771811
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..74b1abcf367f311fe0f829c9b9583a5dd9993ae8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e07d2c697098fb2fec6f285223f34221eaf136ddf08926717c7e2e3c66343d7
+size 784742
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1cde501d676f86819b31d120bc952b36d140f0a5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b82ecc60bd765d1c460a909fc0254216942f997e1eadf8d82ef2bb9fd68ad270
+size 115177
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58ca8d0042aa6aca6c3d3c90adf27b6e58359838
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_robot_rgb_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff37d0fe4d715533a8ac507fae4e8cbdade93c33125750f56404a1a35e8209cd
+size 164371
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47d150f50ec815a9e44dc1cb4644dc33e7d4ab5e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1f7708f2c3748bf00c1f04ed9d7d259d70e3f6592805bb03f3d9ecec226e9c
+size 698608
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_4_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afb521a047df6a4e8f4eb6bd5104847bc0928e1a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000018_wrist_camera_seg_batch_4_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8934cde4155b17018915d7bd37bb1b84d74e7adade29a515162c9c983da55942
+size 695291
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d374ece05ed6f71c09d478cc5b5114cd8bdfa07
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbb820305ce5e4151351b86a53eedcab844ac660cf40c48f3f665becdd78e5a0
+size 478346
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f57d7ac34b7c99037a57582a27d560d60c2d6f31
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47473c3bbb83175191682c9e2ffd0bbc3bcf281477063ed9886cf60c41ca34fe
+size 411366
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04c03dce5eb3e409c89dd30ad5ea791289e81212
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7589e65a1e50b391dff5bef8ad5972f899f20b9d05a281b1a296d1504fbd1f9a
+size 549697
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16494c50ded64ea46b3120f10cd5208779d47353
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f13d9b691e95dec43825d20db4a9dc06d2ae95057d0e9be8091440ae83b4853
+size 694468
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e360b95220ae327a33e67af7db6f4a4d3253e0a4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d31ff6245bc8b95235c28b89c78db948efd93beac58fd4a05375fc270b5ff5
+size 105111
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aad2b8989d838470ea046e30ce04c08d0e3c5a48
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000019_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c1dd8e0807d13d68a4dfb3c75456aa10a993b605da23916512bfd09ba1db15
+size 582035
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46b72c4cf833c4d5bf526cde5452e5ea5a26e34d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f01a087e770b00ca64de954bd9420de3fcd518aa0bd8ccd1375a1862e3539c4b
+size 415722
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ab6a1a7f01b9663e76a18872b0cc9ab027ebe70
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeae79d080e24a3244d58166ee20584019c33b1670bfe4b364b4138e445a1a75
+size 355859
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecb8dd481381eb390bab19a3f1face4acce452c2
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfaf153fff3986bdd166b1216daf0817642e4787e0d4c5060c0fbb0b7ef5c386
+size 499913
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c2879f39ed7fbb395e76260316a37003ef4f6517
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839c06cefe57ff9c81f3f589636d7e4e126c532c1ea5d8bde019595a4a233966
+size 704695
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..719ba18b972651169d01616a8fecdbea56af3287
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b476482f4bc489e9ac8067bfbb51e1a0279838772be730946995145f603b3998
+size 108665
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d7355c864168994dc09bbce3b4a38af57b58a74
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000020_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ace840d48deff367f99cbdb4e19990af80ce131cbcb7a14e5f10cc65ae2038
+size 607154
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4454b7f72ca57d00d0b64efe6d4a2950cdcb8d08
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87fceebc7377474937a3826eb1f9002ca54147caa0f9a21cc0bef72d5c82d7b
+size 496858
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0129ec90d6282b45dd5bd763dcc83eb982b4a433
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf2edca9fad2c62a7f52bc737abd9f85b58999b8d49cb43e3c8c11351d9acd0
+size 430795
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f63461123e718acaaf1b67ca0a7d1b415560dd4d
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:840c45f66998e516deddb2125205abe77b0f287501e26d568b3d4fef828e4e51
+size 587133
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3fe8105966dc4c2efa3e15bebb619d9494fefffb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e33e8ba4630e2362bda517a4883a6d4faf4dbc85645cbbf67cf945c56ab82136
+size 780680
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75f9eac6147d5b928ccb360164d1c86cf8099a6e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db9811a3cecbf54a9835fb17534a32d93d00ad52c6f2c4aa09240f899aa1e04
+size 153805
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..356faaa07693f96f480d9fff6b870f411f064fe7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000021_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8384bd520e9e1f2e6d4b8ae7bc2ff7587fe96eb8afdf0f5afd3f738f0a886691
+size 674017
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3df5327bbf0e7c2679b25736195930aa31aad7b3
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a90457e1829485718badecbf05d1414789425bca1ac2c63d1301acee34f15bdb
+size 422289
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9127118d12d88b0389f4a80b1c846ca58ff5e1e
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f234a50dff91b536b07cdd4c8c865e31fc783ce0377a002cfb8ad3d1ca7fc26
+size 360451
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a5b1e3ac0ba035ca3d9365c778f4c6cc16e8d21
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40fa01c9427d2f1aef297dd6018ba77c354edd7b9498c687e546a6d195b9d9a2
+size 492624
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d02255ce3ab1cec5b24366a5609e8eca77ee730
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc8ddf1066fb9a652cd27fbfe42ad63a7535ff555e84a5bca3a7f580d6ddae5
+size 724118
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..55708a20d332591567ec88c922da564828479b20
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31ac31ee5a4fa4c5ed7c8c21ab45fb0a41e83b5e9205b039d007f93c8c37c5c
+size 125729
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8eebb84e588e85c56cd171c4234420bc23181e71
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000022_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd502e7f141f232e970be90e6426fa703500aec870e227518522a6e6e8d3c4a6
+size 633489
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c70d6051e045b77517913f1b3f07ab3cba1f9217
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98c106779a89507cd3e60a920d8a8f6a9fce4807e1274fd603e82dc164f80f47
+size 592386
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08684fbd74c60d4838b74d8c2ce46fd4de817770
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d7a1fa87fd3c737c36ef07edc518d5e49bd61bd4ac080105b8d448ceb008c3
+size 529347
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..949936a5cf52700dca4a261a1eb91dad8553093a
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3938295680fe998dd11261a50a7eea9f578e86264a204d56433f15a57679a504
+size 618926
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40a510a6db38844d3ad9386620a8bd8ae2120b28
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df367305546f819c3cce0d4dbb0bd7dacdb1e931a58fac45ba0a9b401027b24d
+size 944619
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1c06603f5d9c4f57e9fca69e309b5d2dc88030b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f515a914832a93cd2f99b6949458a18ae0df984e4d245ba1e3387c6772654267
+size 141372
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..311b3ddd81391d10e54fcd6d4f33640985316a94
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000023_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46bd0cc4e9df302d51d5da7d46bfcad12f80f5492e06cae7b4f9a5ac9e8d5f27
+size 587151
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4562254dc9a3d8788e48cedb0f90290c7a2340b8
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa147450c38a95c5d9b392db3e654f75cc533bd92d262be3515cddf8626ac522
+size 509375
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5f518eca2661513eb051cc837f008e98213f32f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5e4206610886ce47aa693968087570651a39d4c8b027b0e7328712d144e5e00
+size 442652
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce1e95026e400a44dfbe5ac64c2c86e358689e2f
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_exo_camera_1_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37c0133dee42a3bd76fec26595b08577f5305d86293f189671a189c292c8407
+size 624084
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33a1f8b080d94214dae252dcfc37ccbc0a6d8723
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78b2d233ab4ea284fba622d40c8f6da53078edd6e20ef9438ba972b50b90da4b
+size 799540
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3dfab57c191d9888ceb316d7e659759d57b9324
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_robot_rgb_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47150f5f1d08485563dd1e21aec8fd26c34126285ecca362582aad7fa5b46351
+size 152612
diff --git a/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_seg_batch_2_of_4_cam_rand.mp4 b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a07608134ae9637872eaca44865805d8fac599a7
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/episode_00000024_wrist_camera_seg_batch_2_of_4_cam_rand.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3c2fba632de11f5594e2fc2e78d50a1e04dbd4b3dca70991776dcb158edf56
+size 696961
diff --git a/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224143.pkl b/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224143.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..621057bac5fcf568c7e6f68d21499a5e520c8be5
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224143.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:777356d8ba37f0b3cbd4c4cbe7b9667cd1b3fccea07698c5767f6aa815fecd10
+size 8146
diff --git a/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224147.pkl b/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224147.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fbdcedc23717770db9cca5c3d9b1082296ef8775
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/experiment_config_20260513_224147.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd94ab2aa9e7788454d796fcc93f93c8557392f508f9171206d0f5366015def
+size 8146
diff --git a/3drawers/sim_chunks/chunk_055/running_log.log b/3drawers/sim_chunks/chunk_055/running_log.log
new file mode 100644
index 0000000000000000000000000000000000000000..0000f2ed502707750224cea7367da135fff8b96b
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/running_log.log
@@ -0,0 +1,17150 @@
+05/13 22:41:43 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:41:43 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:41:43 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:41:43 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_055'),
+ '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 0x1147730734d0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 50022,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:41:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:41:43 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:41:43 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:41:43 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:41:43 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:41:43 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:41:43 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:41:43 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:41:43 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:41:43 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_055'),
+ '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 0x67722dbdad0>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 50023,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:41:43 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_055'),
+ '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 0x12ad258c5250>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 50024,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:41:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:41:43 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:41:43 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:41:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:41:43 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:41:43 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:41:43 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:41:43 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:41:43 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:41:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:41:45 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:41:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:41:45 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:41:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:41:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:41:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:41:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:41:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170483m	[env.py: 870]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190665m	[env.py: 870]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:41:45 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:41:45 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.78015637 -0.89376886 -0.19066535] yaw=-70.3deg	[env.py: 1019]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:41:45 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137748m	[env.py: 870]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:45 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29736871 -1.2143492  -0.17048252] yaw=-41.8deg	[env.py: 1019]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3886623  -0.89961428 -0.19066535] yaw=-60.8deg	[env.py: 1019]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=8.8ms, retries=146.2ms, total=154.9ms	[env.py: 1075]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.214, -0.170)	[env.py: 1079]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg	[env.py: 1082]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=8.8ms, retries=153.7ms, total=162.5ms	[env.py: 1075]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.780, -0.894, -0.191)	[env.py: 1079]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg	[env.py: 1082]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.68709917 -0.80398696 -0.13774845] yaw=-91.2deg	[env.py: 1019]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=27.3ms, retries=239.0ms, total=266.3ms	[env.py: 1075]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.687, -0.804, -0.138)	[env.py: 1079]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.2 deg	[env.py: 1082]
+05/13 22:41:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 22:41:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:46 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:47 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:41:47 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:41:47 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:41:47 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_055'),
+ '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 0x14868697d490>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
+                  'K_stiffness': [5132.972657172051,
+                                  1060.4599870990814,
+                                  1814.2516466742627,
+                                  2282.7973699783515,
+                                  2963.6502662461776,
+                                  1843.22950428842,
+                                  2505.657053829795],
+                  'action_noise_config': {'action_scale_factor': 0.1,
+                                          'base_action_scale_factor': 0.1,
+                                          'enabled': True,
+                                          'max_base_position_noise': 0.02,
+                                          'max_base_rotation_noise': 0.05,
+                                          'max_tcp_position_noise': 0.02,
+                                          'max_tcp_rotation_noise': 0.1,
+                                          'rotation_noise_scale': 0.1},
+                  'command_mode': {'arm': 'joint_position',
+                                   'gripper': 'joint_position'},
+                  'default_world_pose': [0, 0, 0, 1, 0, 0, 0],
+                  'gravcomp': True,
+                  'init_qpos': {'arm': [0,
+                                        -0.7853,
+                                        0,
+                                        -2.35619,
+                                        0,
+                                        1.57079,
+                                        0.0],
+                                'gripper': [0.00296, 0.00296]},
+                  'init_qpos_noise_range': {'arm': [0.025,
+                                                    0.05,
+                                                    0.075,
+                                                    0.1,
+                                                    0.125,
+                                                    0.15,
+                                                    0.175]},
+                  'name': 'franka_droid',
+                  'robot_cls': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_factory': <class 'molmo_spaces.robots.franka.FrankaRobot'>,
+                  'robot_namespace': 'robot_0/',
+                  'robot_view_factory': <class 'molmo_spaces.robots.robot_views.franka_droid_view.FrankaDroidRobotView'>,
+                  'robot_xml_path': PosixPath('model.xml')},
+ 'save_depth_mp4': False,
+ 'scene_dataset': 'ithor_minimal_3drawers',
+ 'seed': 50021,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:41:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:41:47 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:41:47 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:41:47 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:41:49 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:41:49 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:41:49 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:41:49 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:41:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:49 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]
+05/13 22:41:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163182m	[env.py: 870]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:49 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8343086  -0.6946938  -0.16318207] yaw=-68.1deg	[env.py: 1019]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=8.6ms, retries=110.4ms, total=119.0ms	[env.py: 1075]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.834, -0.695, -0.163)	[env.py: 1079]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.1 deg	[env.py: 1082]
+05/13 22:41:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:49 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:02 INFO: [Worker 0] Warmed up parallel IK solver in 16.413s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.079s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:03 INFO: [Worker 0] Warmed up parallel IK solver in 17.467s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:04 INFO: [Worker 0] Warmed up parallel IK solver in 18.301s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:04 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]
+05/13 22:42:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.603[m] 76.815[deg]	[grasp_sample.py: 539]
+05/13 22:42:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:06 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:06 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.577[m] 78.325[deg]	[grasp_sample.py: 539]
+05/13 22:42:06 INFO: [Worker 0] Warmed up parallel IK solver in 17.517s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:07 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:07 INFO: [Worker 0] Feasibility-checked 246 grasps in 4.855s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:07 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.739[m] 96.173[deg]	[grasp_sample.py: 539]
+05/13 22:42:08 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.415s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:42:08 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:42:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170165m	[env.py: 870]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43996025 -1.10234235 -0.17016543] yaw=-33.3deg	[env.py: 1019]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25476822 -0.92481069 -0.17016543] yaw=-68.3deg	[env.py: 1019]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.2ms	[env.py: 1075]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -1.102, -0.170)	[env.py: 1079]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg	[env.py: 1082]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:09 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167522m	[env.py: 870]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43177561 -0.97940289 -0.16752152] yaw=-72.6deg	[env.py: 1019]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4099723  -0.97171508 -0.16752152] yaw=-76.5deg	[env.py: 1019]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.8ms	[env.py: 1075]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.432, -0.979, -0.168)	[env.py: 1079]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.6 deg	[env.py: 1082]
+05/13 22:42:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m	[env.py: 1086]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:10 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:10 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]
+05/13 22:42:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117974m	[env.py: 870]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10239346 -1.07755566 -0.11797429] yaw=-54.0deg	[env.py: 1019]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.077s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47144323 -0.92852978 -0.11797429] yaw=-42.1deg	[env.py: 1019]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=154.0ms, total=154.0ms	[env.py: 1075]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.102, -1.078, -0.118)	[env.py: 1079]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg	[env.py: 1082]
+05/13 22:42:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:10 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.349s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:10 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.611[m] 89.306[deg]	[grasp_sample.py: 539]
+05/13 22:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.538s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:42:12 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:42:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.273s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:12 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.692[m] 111.362[deg]	[grasp_sample.py: 539]
+05/13 22:42:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138307m	[env.py: 870]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88876635 -0.92897361 -0.13830686] yaw=-66.8deg	[env.py: 1019]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16522027 -1.31642244 -0.13830686] yaw=-22.3deg	[env.py: 1019]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40123753 -0.91143719 -0.13830686] yaw=-75.0deg	[env.py: 1019]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.1ms, total=92.1ms	[env.py: 1075]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.889, -0.929, -0.138)	[env.py: 1079]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg	[env.py: 1082]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:14 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.586s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.652[m] 86.993[deg]	[grasp_sample.py: 539]
+05/13 22:42:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:42:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:42:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.497[m] 61.443[deg]	[grasp_sample.py: 539]
+05/13 22:42:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:29 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:42:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:42:29 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]
+05/13 22:42:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 38 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:29 INFO: [Worker 0] Feasibility-checked 38 grasps in 0.385s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:29 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.025[m] 3.768[deg]	[grasp_sample.py: 539]
+05/13 22:42:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:42:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:42:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.639s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.497[m] 61.445[deg]	[grasp_sample.py: 539]
+05/13 22:42:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:42:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:42:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.716s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.497[m] 61.445[deg]	[grasp_sample.py: 539]
+05/13 22:42:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:42:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:42:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:42:44 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:42:44 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=2.27s:
+  episode_total: mean=17.85s, total=53.56s, count=3, min=1930.4ms, max=30931.2ms
+  sensor_polling: mean=148.5ms, total=10.99s, count=74, min=139.3ms, max=236.9ms
+  task_sampling: mean=757.8ms, total=2.27s, count=3, min=243.9ms, max=1718.8ms
+  scene_load: mean=1.47s, total=1.47s, count=1, min=1470.3ms, max=1470.3ms
+  scene_env_create: mean=856.1ms, total=856.1ms, count=1, min=856.1ms, max=856.1ms
+  task_specific_sample: mean=265.6ms, total=796.9ms, count=3, min=241.5ms, max=308.5ms
+  physics_step: mean=8.1ms, total=598.1ms, count=74, min=6.3ms, max=9.6ms
+  scene_compile: mean=529.2ms, total=529.2ms, count=1, min=529.2ms, max=529.2ms
+  compile_mujoco: mean=353.3ms, total=353.3ms, count=1, min=353.3ms, max=353.3ms
+  compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_init: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  compile_aux_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  compile_aux_policy_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  asset_install_grasps: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
+  asset_install_objects: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms
+  compile_robot_add: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  scene_randomize: mean=985.0us, total=3.0ms, count=3, min=0.6ms, max=1.3ms
+  asset_install_scene: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  mj_forward_sync: mean=252.6us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159645m	[env.py: 870]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45751693 -0.98659277 -0.15964502] yaw=-77.8deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57442892 -0.73848385 -0.15964502] yaw=-54.0deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32632861 -1.1129824  -0.15964502] yaw=-64.5deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.2ms, total=75.2ms	[env.py: 1075]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -0.987, -0.160)	[env.py: 1079]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg	[env.py: 1082]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:46 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:50 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.652[m] 98.431[deg]	[grasp_sample.py: 539]
+05/13 22:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:42:53 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:42:54 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:42:57 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:43:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:43:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:05 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:43:07 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:43:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:07 INFO: [Worker 0] Preparing episode data: 295 timesteps	[save_utils.py: 278]
+05/13 22:43:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:43:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:10 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 22:43:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:43:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.98s (batch: 3.38s, save: 4.61s)	[pipeline.py: 300]
+05/13 22:43:13 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.38s:
+  episode_total: mean=44.54s, total=89.07s, count=2, min=24292.3ms, max=64781.9ms
+  sensor_polling: mean=151.0ms, total=39.26s, count=260, min=140.7ms, max=310.3ms
+  save_trajectories: mean=4.61s, total=4.61s, count=1, min=4606.2ms, max=4606.2ms
+  task_sampling: mean=1.69s, total=3.38s, count=2, min=291.9ms, max=3092.6ms
+  save_batch_prep: mean=3.38s, total=3.38s, count=1, min=3376.9ms, max=3376.9ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2734.7ms, max=2734.7ms
+  physics_step: mean=9.7ms, total=2.52s, count=260, min=8.3ms, max=15.6ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms
+  scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.1ms, max=1155.1ms
+  task_specific_sample: mean=322.7ms, total=645.5ms, count=2, min=289.9ms, max=355.6ms
+  compile_xml_load: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms
+  compile_mujoco: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
+  scene_asset_install: mean=70.0ms, total=70.0ms, count=1, min=70.0ms, max=70.0ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  scene_randomize: mean=838.4us, total=1.7ms, count=2, min=0.6ms, max=1.0ms
+  mj_forward_sync: mean=247.6us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=21.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:43:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.30s (batch: 3.17s, save: 5.12s)	[pipeline.py: 300]
+05/13 22:43:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191863m	[env.py: 870]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22718414 -1.27773459 -0.19186341] yaw=-25.5deg	[env.py: 1019]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12152836 -1.14492479 -0.19186341] yaw=-10.9deg	[env.py: 1019]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48926496 -1.01498532 -0.19186341] yaw=-79.2deg	[env.py: 1019]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.6ms	[env.py: 1075]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -1.278, -0.192)	[env.py: 1079]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.5 deg	[env.py: 1082]
+05/13 22:43:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:15 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:16 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.16s:
+  episode_total: mean=93.09s, total=93.09s, count=1, min=93087.3ms, max=93087.3ms
+  sensor_polling: mean=153.2ms, total=45.05s, count=294, min=136.6ms, max=317.1ms
+  save_trajectories: mean=5.12s, total=5.12s, count=1, min=5124.5ms, max=5124.5ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3174.9ms, max=3174.9ms
+  task_sampling: mean=3.16s, total=3.16s, count=1, min=3160.3ms, max=3160.3ms
+  physics_step: mean=9.7ms, total=2.86s, count=294, min=8.5ms, max=27.9ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2681.3ms, max=2681.3ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1446.7ms, max=1446.7ms
+  scene_compile: mean=1.10s, total=1.10s, count=1, min=1104.3ms, max=1104.3ms
+  compile_xml_load: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms
+  task_specific_sample: mean=476.5ms, total=476.5ms, count=1, min=476.5ms, max=476.5ms
+  compile_mujoco: mean=436.6ms, total=436.6ms, count=1, min=436.6ms, max=436.6ms
+  scene_asset_install: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_init: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  compile_aux_policy_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=22.4ms, total=22.4ms, count=1, min=22.4ms, max=22.4ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  scene_randomize: mean=959.9us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=260.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=30.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:16 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:16 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.609[m] 86.367[deg]	[grasp_sample.py: 539]
+05/13 22:43:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:43:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:43:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.44s (batch: 2.88s, save: 4.56s)	[pipeline.py: 300]
+05/13 22:43:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148832m	[env.py: 870]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=296.5ms, total=296.5ms	[env.py: 1105]
+05/13 22:43:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:43:18 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]
+05/13 22:43:18 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=3.46s:
+  episode_total: mean=46.79s, total=93.57s, count=2, min=25044.2ms, max=68525.8ms
+  sensor_polling: mean=152.4ms, total=40.98s, count=269, min=127.5ms, max=382.1ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4558.9ms, max=4558.9ms
+  task_sampling: mean=1.73s, total=3.46s, count=2, min=279.8ms, max=3176.3ms
+  save_batch_prep: mean=2.88s, total=2.88s, count=1, min=2877.4ms, max=2877.4ms
+  scene_load: mean=2.75s, total=2.75s, count=1, min=2746.6ms, max=2746.6ms
+  physics_step: mean=9.9ms, total=2.65s, count=269, min=7.9ms, max=37.1ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1493.1ms, max=1493.1ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.2ms, max=1030.2ms
+  task_specific_sample: mean=352.4ms, total=704.7ms, count=2, min=277.3ms, max=427.4ms
+  compile_xml_load: mean=479.9ms, total=479.9ms, count=1, min=479.9ms, max=479.9ms
+  compile_mujoco: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms
+  scene_asset_install: mean=165.3ms, total=165.3ms, count=1, min=165.3ms, max=165.3ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_scene: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.9ms, max=1.4ms
+  mj_forward_sync: mean=316.1us, total=0.6ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=22.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117817m	[env.py: 870]
+05/13 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.76267412 -0.82945217 -0.11781655] yaw=-81.7deg	[env.py: 1019]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101159m	[env.py: 870]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.88234773 -0.89090642 -0.10115934] yaw=-76.8deg	[env.py: 1019]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.00581251 -1.18425837 -0.11781655] yaw=-13.7deg	[env.py: 1019]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3805456  -1.15440539 -0.10115934] yaw=-69.0deg	[env.py: 1019]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.1ms, total=144.1ms	[env.py: 1075]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.882, -0.891, -0.101)	[env.py: 1079]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.8 deg	[env.py: 1082]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34357213 -1.20471861 -0.11781655] yaw=-28.7deg	[env.py: 1019]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=302.2ms, total=302.3ms	[env.py: 1075]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.763, -0.829, -0.118)	[env.py: 1079]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.7 deg	[env.py: 1082]
+05/13 22:43:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:20 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:20 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:21 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.670[m] 101.808[deg]	[grasp_sample.py: 539]
+05/13 22:43:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:23 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.664[m] 98.330[deg]	[grasp_sample.py: 539]
+05/13 22:43:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:43:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:43:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.284s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.532[m] 75.337[deg]	[grasp_sample.py: 539]
+05/13 22:43:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:36 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:43:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:43:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.340s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.526[m] 74.608[deg]	[grasp_sample.py: 539]
+05/13 22:43:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:43:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:43:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.253s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:47 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.526[m] 74.611[deg]	[grasp_sample.py: 539]
+05/13 22:43:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:52 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:43:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:52 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:43:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:43:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:43:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:43:52 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:43:52 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.32s:
+  episode_total: mean=32.58s, total=32.58s, count=1, min=32578.2ms, max=32578.2ms
+  sensor_polling: mean=143.1ms, total=10.30s, count=72, min=134.2ms, max=156.9ms
+  physics_step: mean=8.4ms, total=602.7ms, count=72, min=6.2ms, max=9.6ms
+  task_sampling: mean=317.9ms, total=317.9ms, count=1, min=317.9ms, max=317.9ms
+  task_specific_sample: mean=299.0ms, total=299.0ms, count=1, min=299.0ms, max=299.0ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=299.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120978m	[env.py: 870]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52872902 -0.73671509 -0.1209783 ] yaw=-43.9deg	[env.py: 1019]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=82.6ms, total=82.6ms	[env.py: 1075]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.737, -0.121)	[env.py: 1079]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 22:43:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:54 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.485s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:43:56 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:57 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]
+05/13 22:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167531m	[env.py: 870]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1489332  -1.23447556 -0.16753099] yaw=-14.4deg	[env.py: 1019]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12801311 -1.29397086 -0.16753099] yaw=-13.2deg	[env.py: 1019]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=97.0ms, total=97.0ms	[env.py: 1075]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.234, -0.168)	[env.py: 1079]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.4 deg	[env.py: 1082]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:57 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:57 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]
+05/13 22:43:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:59 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:44:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:44:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.57s (batch: 3.44s, save: 5.13s)	[pipeline.py: 300]
+05/13 22:44:01 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.23s:
+  episode_total: mean=74.93s, total=74.93s, count=1, min=74931.7ms, max=74931.7ms
+  sensor_polling: mean=154.2ms, total=40.41s, count=262, min=133.4ms, max=334.2ms
+  save_trajectories: mean=5.13s, total=5.13s, count=1, min=5125.7ms, max=5125.7ms
+  save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3441.4ms, max=3441.4ms
+  physics_step: mean=9.7ms, total=2.53s, count=262, min=8.1ms, max=15.7ms
+  task_sampling: mean=226.2ms, total=226.2ms, count=1, min=226.2ms, max=226.2ms
+  task_specific_sample: mean=224.1ms, total=224.1ms, count=1, min=224.1ms, max=224.1ms
+  scene_randomize: mean=966.1us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=312.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:44:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:02 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.730[m] 87.010[deg]	[grasp_sample.py: 539]
+05/13 22:44:02 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:44:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119648m	[env.py: 870]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49457571 -0.73610503 -0.11964843] yaw=-60.1deg	[env.py: 1019]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.495, -0.736, -0.120)	[env.py: 1079]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg	[env.py: 1082]
+05/13 22:44:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:03 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:04 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]
+05/13 22:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173989m	[env.py: 870]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22845254 -0.97711307 -0.17398869] yaw=-32.7deg	[env.py: 1019]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89012031 -0.83426443 -0.17398869] yaw=-76.4deg	[env.py: 1019]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=120.3ms, total=120.3ms	[env.py: 1075]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -0.977, -0.174)	[env.py: 1079]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg	[env.py: 1082]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:04 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.456s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:05 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.565s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:06 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148182m	[env.py: 870]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14414496 -1.32222426 -0.14818222] yaw=-49.3deg	[env.py: 1019]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.76258592 -0.92386906 -0.14818222] yaw=-87.5deg	[env.py: 1019]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=187.3ms, total=187.4ms	[env.py: 1075]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.144, -1.322, -0.148)	[env.py: 1079]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg	[env.py: 1082]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.904m	[env.py: 1086]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:07 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141520m	[env.py: 870]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21951046 -1.11906382 -0.14152024] yaw=-65.9deg	[env.py: 1019]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.76604303 -0.92501632 -0.14152024] yaw=-64.4deg	[env.py: 1019]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1075]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.119, -0.142)	[env.py: 1079]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg	[env.py: 1082]
+05/13 22:44:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:07 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:09 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:09 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.208s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.691[m] 75.746[deg]	[grasp_sample.py: 539]
+05/13 22:44:10 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:44:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.808s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:10 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.738[m] 93.210[deg]	[grasp_sample.py: 539]
+05/13 22:44:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198151m	[env.py: 870]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1105]
+05/13 22:44:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:44:11 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:44:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:44:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:44:12 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:44:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158167m	[env.py: 870]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41401022 -1.11535612 -0.15816661] yaw=-58.9deg	[env.py: 1019]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=117.7ms, total=117.7ms	[env.py: 1075]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.414, -1.115, -0.158)	[env.py: 1079]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg	[env.py: 1082]
+05/13 22:44:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:13 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:14 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.583[m] 87.524[deg]	[grasp_sample.py: 539]
+05/13 22:44:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:44:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:44:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.86s (batch: 3.04s, save: 4.82s)	[pipeline.py: 300]
+05/13 22:44:20 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.28s:
+  episode_total: mean=65.06s, total=65.06s, count=1, min=65063.5ms, max=65063.5ms
+  sensor_polling: mean=150.5ms, total=39.13s, count=260, min=137.0ms, max=362.0ms
+  save_trajectories: mean=4.82s, total=4.82s, count=1, min=4821.9ms, max=4821.9ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3037.1ms, max=3037.1ms
+  physics_step: mean=9.9ms, total=2.57s, count=260, min=7.7ms, max=14.1ms
+  task_sampling: mean=275.5ms, total=275.5ms, count=1, min=275.5ms, max=275.5ms
+  task_specific_sample: mean=273.2ms, total=273.2ms, count=1, min=273.2ms, max=273.2ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=245.3us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:44:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166821m	[env.py: 870]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:22 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:44:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:44:22 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29705521 -1.16123778 -0.16682068] yaw=-29.2deg	[env.py: 1019]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.0ms, total=149.1ms	[env.py: 1075]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -1.161, -0.167)	[env.py: 1079]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.2 deg	[env.py: 1082]
+05/13 22:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:22 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.057s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:24 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.620[m] 82.095[deg]	[grasp_sample.py: 539]
+05/13 22:44:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:44:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:44:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.09s (batch: 3.30s, save: 4.80s)	[pipeline.py: 300]
+05/13 22:44:31 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.48s:
+  episode_total: mean=35.81s, total=71.62s, count=2, min=314.6ms, max=71301.6ms
+  sensor_polling: mean=149.0ms, total=39.94s, count=268, min=135.2ms, max=372.9ms
+  save_trajectories: mean=4.80s, total=4.80s, count=1, min=4797.3ms, max=4797.3ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3297.4ms, max=3297.4ms
+  physics_step: mean=9.9ms, total=2.66s, count=268, min=7.6ms, max=17.2ms
+  task_specific_sample: mean=388.2ms, total=776.4ms, count=2, min=300.3ms, max=476.0ms
+  task_sampling: mean=478.3ms, total=478.3ms, count=1, min=478.3ms, max=478.3ms
+  task_sampling_failed: mean=314.5ms, total=314.5ms, count=1, min=314.5ms, max=314.5ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=245.0us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150232m	[env.py: 870]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.29699426 -0.94583132 -0.15023209] yaw=-58.2deg	[env.py: 1019]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 8.91973846e-04 -1.37293169e+00 -1.50232087e-01] yaw=-5.0deg	[env.py: 1019]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51037592 -0.99517625 -0.15023209] yaw=-60.0deg	[env.py: 1019]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.297, -0.946, -0.150)	[env.py: 1079]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/13 22:44:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:33 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.520s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:40 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:44:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183149m	[env.py: 870]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14606305 -1.23842124 -0.18314883] yaw=-27.0deg	[env.py: 1019]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58814779 -0.83415916 -0.18314883] yaw=-73.4deg	[env.py: 1019]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14354715 -1.10617385 -0.18314883] yaw=-20.8deg	[env.py: 1019]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=238.9ms	[env.py: 1075]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.238, -0.183)	[env.py: 1079]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.0 deg	[env.py: 1082]
+05/13 22:44:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/13 22:44:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:42 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:46 INFO: [Worker 0] Feasibility-checked 239 grasps in 4.359s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:46 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.661[m] 82.491[deg]	[grasp_sample.py: 539]
+05/13 22:44:47 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:44:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106508m	[env.py: 870]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42642128 -0.80374432 -0.10650838] yaw=-42.3deg	[env.py: 1019]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.5ms, total=290.5ms	[env.py: 1075]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -0.804, -0.107)	[env.py: 1079]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/13 22:44:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:49 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.536s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:51 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155757m	[env.py: 870]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39498672 -1.10144176 -0.15575674] yaw=-36.5deg	[env.py: 1019]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.3ms, total=251.3ms	[env.py: 1075]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.101, -0.156)	[env.py: 1079]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.5 deg	[env.py: 1082]
+05/13 22:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:53 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.638[m] 87.973[deg]	[grasp_sample.py: 539]
+05/13 22:44:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:56 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:57 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:08 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:09 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:45:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:09 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 22:45:10 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:45:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:10 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 22:45:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:45:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.04s (batch: 3.11s, save: 4.93s)	[pipeline.py: 300]
+05/13 22:45:18 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.96s:
+  episode_total: mean=19.78s, total=79.13s, count=4, min=1787.4ms, max=70399.3ms
+  sensor_polling: mean=148.9ms, total=41.38s, count=278, min=133.6ms, max=487.6ms
+  save_trajectories: mean=4.93s, total=4.93s, count=1, min=4931.3ms, max=4931.3ms
+  save_batch_prep: mean=3.11s, total=3.11s, count=1, min=3106.4ms, max=3106.4ms
+  physics_step: mean=9.7ms, total=2.68s, count=278, min=8.6ms, max=18.2ms
+  task_sampling: mean=240.7ms, total=962.7ms, count=4, min=202.0ms, max=275.2ms
+  task_specific_sample: mean=238.3ms, total=953.1ms, count=4, min=199.2ms, max=273.1ms
+  scene_randomize: mean=1.1ms, total=4.4ms, count=4, min=0.8ms, max=1.2ms
+  mj_forward_sync: mean=259.3us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:45:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146564m	[env.py: 870]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18502551 -1.28325329 -0.14656388] yaw=-10.2deg	[env.py: 1019]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=89.1ms, total=89.1ms	[env.py: 1075]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.283, -0.147)	[env.py: 1079]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.2 deg	[env.py: 1082]
+05/13 22:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:19 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:45:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.64s (batch: 5.00s, save: 4.65s)	[pipeline.py: 300]
+05/13 22:45:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:45:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:20 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 22:45:21 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.95s:
+  episode_total: mean=18.19s, total=72.77s, count=4, min=141.6ms, max=67541.6ms
+  sensor_polling: mean=154.8ms, total=38.85s, count=251, min=132.9ms, max=344.1ms
+  save_batch_prep: mean=5.00s, total=5.00s, count=1, min=4995.5ms, max=4995.5ms
+  save_trajectories: mean=4.65s, total=4.65s, count=1, min=4646.6ms, max=4646.6ms
+  physics_step: mean=9.9ms, total=2.49s, count=251, min=8.5ms, max=15.2ms
+  task_specific_sample: mean=269.4ms, total=1.08s, count=4, min=139.2ms, max=364.2ms
+  task_sampling: mean=315.5ms, total=946.5ms, count=3, min=275.0ms, max=368.0ms
+  task_sampling_failed: mean=141.6ms, total=141.6ms, count=1, min=141.6ms, max=141.6ms
+  scene_randomize: mean=1.1ms, total=4.5ms, count=4, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=286.3us, total=1.1ms, count=4, min=0.2ms, max=0.4ms
+  policy_setup: mean=23.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:45:22 INFO: [Worker 0] Feasibility-checked 228 grasps in 2.663s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:22 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.697[m] 92.585[deg]	[grasp_sample.py: 539]
+05/13 22:45:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165154m	[env.py: 870]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.41766062 -1.11438605 -0.16515423] yaw=-36.7deg	[env.py: 1019]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.0266781  -1.24029295 -0.16515423] yaw=-29.7deg	[env.py: 1019]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:23 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.9ms, total=197.9ms	[env.py: 1075]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.114, -0.165)	[env.py: 1079]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.7 deg	[env.py: 1082]
+05/13 22:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:23 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:24 INFO: [Worker 0] Feasibility-checked 235 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.624[m] 84.314[deg]	[grasp_sample.py: 539]
+05/13 22:45:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173914m	[env.py: 870]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -42.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09598871 -1.18625549 -0.17391413] yaw=-27.4deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37548281 -0.85627241 -0.17391413] yaw=-40.6deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.8ms, total=178.8ms	[env.py: 1075]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.186, -0.174)	[env.py: 1079]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg	[env.py: 1082]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:25 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:26 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.463s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:45:26 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108446m	[env.py: 870]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75079996 -0.73385075 -0.1084455 ] yaw=-75.2deg	[env.py: 1019]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43022479 -1.03741663 -0.1084455 ] yaw=-33.3deg	[env.py: 1019]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.751, -0.734, -0.108)	[env.py: 1079]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.2 deg	[env.py: 1082]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:28 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:45:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.76s (batch: 3.03s, save: 4.74s)	[pipeline.py: 300]
+05/13 22:45:29 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.31s:
+  episode_total: mean=66.87s, total=66.87s, count=1, min=66870.2ms, max=66870.2ms
+  sensor_polling: mean=154.6ms, total=40.34s, count=261, min=139.3ms, max=385.2ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4737.4ms, max=4737.4ms
+  save_batch_prep: mean=3.03s, total=3.03s, count=1, min=3025.2ms, max=3025.2ms
+  physics_step: mean=10.0ms, total=2.62s, count=261, min=7.9ms, max=31.7ms
+  task_sampling: mean=308.4ms, total=308.4ms, count=1, min=308.4ms, max=308.4ms
+  task_specific_sample: mean=305.8ms, total=305.8ms, count=1, min=305.8ms, max=305.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=285.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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]
+05/13 22:45:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:30 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.781[m] 93.931[deg]	[grasp_sample.py: 539]
+05/13 22:45:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133044m	[env.py: 870]
+05/13 22:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16975118 -1.33086324 -0.13304435] yaw=-39.0deg	[env.py: 1019]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27267832 -0.96816754 -0.13304435] yaw=-34.9deg	[env.py: 1019]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36365548 -1.078983   -0.13304435] yaw=-74.5deg	[env.py: 1019]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.8ms, total=192.8ms	[env.py: 1075]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.170, -1.331, -0.133)	[env.py: 1079]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg	[env.py: 1082]
+05/13 22:45:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/13 22:45:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:31 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:33 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.662[m] 84.276[deg]	[grasp_sample.py: 539]
+05/13 22:45:33 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179491m	[env.py: 870]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28780978 -1.23359463 -0.17949084] yaw=-48.6deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59066509 -0.99299206 -0.17949084] yaw=-44.1deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.7211807  -0.72338374 -0.17949084] yaw=-54.5deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.9ms, total=233.9ms	[env.py: 1075]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.234, -0.179)	[env.py: 1079]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg	[env.py: 1082]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:36 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.591[m] 88.920[deg]	[grasp_sample.py: 539]
+05/13 22:45:38 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:38 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168646m	[env.py: 870]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87781483 -0.64780192 -0.16864575] yaw=-91.4deg	[env.py: 1019]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.3ms, total=125.3ms	[env.py: 1075]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.878, -0.648, -0.169)	[env.py: 1079]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.4 deg	[env.py: 1082]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.086m	[env.py: 1086]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:40 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:42 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.483s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:45:42 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:45:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124668m	[env.py: 870]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5982349  -0.85062174 -0.12466769] yaw=-51.3deg	[env.py: 1019]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18230331 -1.35365506 -0.12466769] yaw=-9.1deg	[env.py: 1019]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=328.0ms, total=328.1ms	[env.py: 1075]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.851, -0.125)	[env.py: 1079]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/13 22:45:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 22:45:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:44 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:48 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.754[m] 83.547[deg]	[grasp_sample.py: 539]
+05/13 22:45:48 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114203m	[env.py: 870]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.7175078  -0.8007443  -0.11420321] yaw=-83.9deg	[env.py: 1019]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35341961 -1.15006581 -0.11420321] yaw=-38.6deg	[env.py: 1019]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03879293 -1.20571098 -0.11420321] yaw=-13.4deg	[env.py: 1019]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.2ms, total=107.2ms	[env.py: 1075]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.801, -0.114)	[env.py: 1079]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.9 deg	[env.py: 1082]
+05/13 22:45:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:50 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:45:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:45:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:52 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:45:52 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.762s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:52 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.725[m] 102.331[deg]	[grasp_sample.py: 539]
+05/13 22:45:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:45:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:45:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:46:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:46:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.23s (batch: 3.40s, save: 4.83s)	[pipeline.py: 300]
+05/13 22:46:01 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.81s:
+  episode_total: mean=20.60s, total=82.41s, count=4, min=2186.9ms, max=67716.8ms
+  sensor_polling: mean=152.5ms, total=40.27s, count=264, min=129.6ms, max=318.6ms
+  save_trajectories: mean=4.83s, total=4.83s, count=1, min=4831.8ms, max=4831.8ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3400.7ms, max=3400.7ms
+  physics_step: mean=9.9ms, total=2.60s, count=264, min=7.9ms, max=15.2ms
+  task_sampling: mean=453.0ms, total=1.81s, count=4, min=369.3ms, max=532.7ms
+  task_specific_sample: mean=450.0ms, total=1.80s, count=4, min=366.6ms, max=529.4ms
+  scene_randomize: mean=1.5ms, total=5.9ms, count=4, min=1.1ms, max=1.6ms
+  mj_forward_sync: mean=289.9us, total=1.2ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=25.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:46:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119910m	[env.py: 870]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87705944 -0.80795029 -0.11990984] yaw=-57.8deg	[env.py: 1019]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55515237 -0.8014541  -0.11990984] yaw=-77.1deg	[env.py: 1019]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11994953 -1.42571551 -0.11990984] yaw=-42.6deg	[env.py: 1019]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.9ms, total=151.9ms	[env.py: 1075]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.877, -0.808, -0.120)	[env.py: 1079]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/13 22:46:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:03 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:10 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.772[m] 105.098[deg]	[grasp_sample.py: 539]
+05/13 22:46:11 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:11 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:46:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187540m	[env.py: 870]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17811098 -1.28907357 -0.1875397 ] yaw=-43.9deg	[env.py: 1019]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34696243 -1.04551084 -0.1875397 ] yaw=-37.3deg	[env.py: 1019]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=167.8ms, total=167.8ms	[env.py: 1075]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.289, -0.188)	[env.py: 1079]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 22:46:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:13 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:13 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]
+05/13 22:46:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:18 INFO: [Worker 0] Feasibility-checked 244 grasps in 4.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:18 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.607[m] 92.368[deg]	[grasp_sample.py: 539]
+05/13 22:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:19 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155877m	[env.py: 870]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=136.0ms, total=136.1ms	[env.py: 1105]
+05/13 22:46:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:46:20 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128058m	[env.py: 870]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84978416 -0.64369218 -0.12805843] yaw=-95.9deg	[env.py: 1019]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.73913573 -0.72266733 -0.12805843] yaw=-58.8deg	[env.py: 1019]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.850, -0.644, -0.128)	[env.py: 1079]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.9 deg	[env.py: 1082]
+05/13 22:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:22 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:24 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.559s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:46:24 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:46:25 INFO: [Worker 0] Feasibility-checked 225 grasps in 1.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:25 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.197[m] 14.061[deg]	[grasp_sample.py: 539]
+05/13 22:46:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:46:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:46:25 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:46:25 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:26 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]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111191m	[env.py: 870]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60505766 -0.87823074 -0.11119071] yaw=-48.9deg	[env.py: 1019]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14431512 -1.19220452 -0.11119071] yaw=-42.9deg	[env.py: 1019]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms	[env.py: 1075]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.878, -0.111)	[env.py: 1079]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg	[env.py: 1082]
+05/13 22:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:26 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157076m	[env.py: 870]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13921113 -1.23384232 -0.15707561] yaw=-42.8deg	[env.py: 1019]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.57160644 -0.71265389 -0.15707561] yaw=-48.2deg	[env.py: 1019]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.7ms, total=140.7ms	[env.py: 1075]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.139, -1.234, -0.157)	[env.py: 1079]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/13 22:46:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:27 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:30 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:30 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.684[m] 79.476[deg]	[grasp_sample.py: 539]
+05/13 22:46:30 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:31 INFO: [Worker 0] Feasibility-checked 242 grasps in 31.861s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:31 INFO: [Worker 0] Feasible grasp found 49 (originally 49): w/ 0.074[m] 75.691[deg]	[grasp_sample.py: 539]
+05/13 22:46:31 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.698s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:32 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.718[m] 74.803[deg]	[grasp_sample.py: 539]
+05/13 22:46:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141656m	[env.py: 870]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34604188 -1.00771146 -0.14165636] yaw=-72.4deg	[env.py: 1019]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23772941 -1.05436234 -0.14165636] yaw=-31.2deg	[env.py: 1019]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35994039 -1.12719162 -0.14165636] yaw=-28.7deg	[env.py: 1019]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.2ms, total=185.2ms	[env.py: 1075]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.346, -1.008, -0.142)	[env.py: 1079]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.4 deg	[env.py: 1082]
+05/13 22:46:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:32 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:46:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122242m	[env.py: 870]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50181805 -1.00238294 -0.12224235] yaw=-60.9deg	[env.py: 1019]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.3ms, total=122.3ms	[env.py: 1075]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -1.002, -0.122)	[env.py: 1079]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/13 22:46:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:33 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:46:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:46:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.10s (batch: 3.23s, save: 4.86s)	[pipeline.py: 300]
+05/13 22:46:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:34 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.715[m] 88.708[deg]	[grasp_sample.py: 539]
+05/13 22:46:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.606[m] 87.273[deg]	[grasp_sample.py: 539]
+05/13 22:46:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:34 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.37s:
+  episode_total: mean=71.44s, total=71.44s, count=1, min=71441.2ms, max=71441.2ms
+  sensor_polling: mean=154.4ms, total=40.44s, count=262, min=138.2ms, max=282.2ms
+  save_trajectories: mean=4.86s, total=4.86s, count=1, min=4862.7ms, max=4862.7ms
+  save_batch_prep: mean=3.23s, total=3.23s, count=1, min=3232.7ms, max=3232.7ms
+  physics_step: mean=9.8ms, total=2.58s, count=262, min=7.6ms, max=26.6ms
+  task_sampling: mean=372.6ms, total=372.6ms, count=1, min=372.6ms, max=372.6ms
+  task_specific_sample: mean=369.5ms, total=369.5ms, count=1, min=369.5ms, max=369.5ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=291.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=46.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:46:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:34 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103698m	[env.py: 870]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52843208 -0.82258969 -0.10369809] yaw=-43.9deg	[env.py: 1019]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18594285 -1.11127079 -0.10369809] yaw=-19.9deg	[env.py: 1019]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151647m	[env.py: 870]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12902588 -1.31376898 -0.10369809] yaw=-51.7deg	[env.py: 1019]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=364.7ms, total=364.7ms	[env.py: 1075]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.823, -0.104)	[env.py: 1079]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05019153 -1.3467198  -0.15164714] yaw=-13.0deg	[env.py: 1019]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:36 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=352.1ms, total=352.2ms	[env.py: 1075]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.050, -1.347, -0.152)	[env.py: 1079]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.0 deg	[env.py: 1082]
+05/13 22:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:37 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.789[m] 84.053[deg]	[grasp_sample.py: 539]
+05/13 22:46:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:38 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.612s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:46:38 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:46:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107320m	[env.py: 870]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85380569 -0.87319019 -0.10731981] yaw=-90.3deg	[env.py: 1019]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.58417314 -0.90243473 -0.10731981] yaw=-85.8deg	[env.py: 1019]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67145529 -0.7163149  -0.10731981] yaw=-56.7deg	[env.py: 1019]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.4ms, total=153.4ms	[env.py: 1075]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.854, -0.873, -0.107)	[env.py: 1079]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.3 deg	[env.py: 1082]
+05/13 22:46:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:42 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:42 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:42 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.654[m] 105.470[deg]	[grasp_sample.py: 539]
+05/13 22:46:43 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:46:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:46:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:46:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:46:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:46:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:46:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171166m	[env.py: 870]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:46:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -2.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44400099 -1.0221578  -0.17116581] yaw=-46.3deg	[env.py: 1019]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28577625 -1.16871141 -0.17116581] yaw=-46.5deg	[env.py: 1019]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43373691 -1.01799208 -0.17116581] yaw=-39.9deg	[env.py: 1019]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:46:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=302.9ms, total=302.9ms	[env.py: 1075]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -1.022, -0.171)	[env.py: 1079]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg	[env.py: 1082]
+05/13 22:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:46:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:46:45 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:46:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:46:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.552s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.619[m] 80.951[deg]	[grasp_sample.py: 539]
+05/13 22:46:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:04 INFO: [Worker 0] Feasibility-checked 230 grasps in 2.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:04 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.057[m] 1.241[deg]	[grasp_sample.py: 539]
+05/13 22:47:04 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:06 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]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195178m	[env.py: 870]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.88492074 -0.90864721 -0.19517812] yaw=-104.8deg	[env.py: 1019]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58466855 -0.98057842 -0.19517812] yaw=-73.7deg	[env.py: 1019]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20025765 -1.31255629 -0.19517812] yaw=-13.8deg	[env.py: 1019]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=145.8ms, total=145.8ms	[env.py: 1075]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.885, -0.909, -0.195)	[env.py: 1079]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.8 deg	[env.py: 1082]
+05/13 22:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:06 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:07 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.595[m] 87.870[deg]	[grasp_sample.py: 539]
+05/13 22:47:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:18 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:19 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:19 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.450[m] 61.726[deg]	[grasp_sample.py: 539]
+05/13 22:47:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:25 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:25 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.446[m] 60.980[deg]	[grasp_sample.py: 539]
+05/13 22:47:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:47:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:47:30 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:32 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:32 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.446[m] 60.981[deg]	[grasp_sample.py: 539]
+05/13 22:47:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:33 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:37 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:47:37 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:47:37 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=False episode_total=1.53s:
+  episode_total: mean=14.36s, total=86.17s, count=6, min=142.8ms, max=38721.1ms
+  sensor_polling: mean=151.6ms, total=32.74s, count=216, min=132.6ms, max=456.1ms
+  physics_step: mean=9.1ms, total=1.96s, count=216, min=6.3ms, max=14.6ms
+  task_specific_sample: mean=276.9ms, total=1.66s, count=6, min=139.5ms, max=342.4ms
+  task_sampling: mean=306.7ms, total=1.53s, count=5, min=281.7ms, max=345.8ms
+  task_sampling_failed: mean=142.8ms, total=142.8ms, count=1, min=142.8ms, max=142.8ms
+  scene_randomize: mean=1.1ms, total=6.6ms, count=6, min=0.7ms, max=2.2ms
+  mj_forward_sync: mean=253.7us, total=1.5ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:47:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:47:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:47:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.72s (batch: 2.82s, save: 4.90s)	[pipeline.py: 300]
+05/13 22:47:38 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.11s:
+  episode_total: mean=33.57s, total=134.28s, count=4, min=1892.7ms, max=65254.9ms
+  sensor_polling: mean=149.0ms, total=61.38s, count=412, min=133.6ms, max=471.4ms
+  save_trajectories: mean=4.90s, total=4.90s, count=1, min=4902.9ms, max=4902.9ms
+  physics_step: mean=9.4ms, total=3.86s, count=412, min=7.5ms, max=16.4ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2819.0ms, max=2819.0ms
+  task_sampling: mean=278.4ms, total=1.11s, count=4, min=230.2ms, max=346.0ms
+  task_specific_sample: mean=276.0ms, total=1.10s, count=4, min=227.7ms, max=343.6ms
+  scene_randomize: mean=1.2ms, total=4.9ms, count=4, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=258.9us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.7us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:47:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113979m	[env.py: 870]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.8485808  -0.86041129 -0.1139787 ] yaw=-61.4deg	[env.py: 1019]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39750075 -0.80137587 -0.1139787 ] yaw=-48.6deg	[env.py: 1019]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.849, -0.860, -0.114)	[env.py: 1079]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/13 22:47:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m	[env.py: 1086]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:39 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179792m	[env.py: 870]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16341462 -1.304968   -0.17979161] yaw=-56.0deg	[env.py: 1019]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18719839 -1.27156789 -0.17979161] yaw=-46.9deg	[env.py: 1019]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.7ms, total=128.7ms	[env.py: 1075]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.305, -0.180)	[env.py: 1079]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg	[env.py: 1082]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:40 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.264s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.699[m] 99.026[deg]	[grasp_sample.py: 539]
+05/13 22:47:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:47:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.143s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:42 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.696[m] 88.926[deg]	[grasp_sample.py: 539]
+05/13 22:47:43 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109964m	[env.py: 870]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15635478 -1.44795395 -0.10996396] yaw=-8.9deg	[env.py: 1019]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=379.0ms, total=379.0ms	[env.py: 1075]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.448, -0.110)	[env.py: 1079]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.9 deg	[env.py: 1082]
+05/13 22:47:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/13 22:47:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:45 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:47:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:47:45 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:47:46 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.650s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:46 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.653[m] 80.749[deg]	[grasp_sample.py: 539]
+05/13 22:47:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.568[m] 74.388[deg]	[grasp_sample.py: 539]
+05/13 22:47:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:47:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:47:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.72s (batch: 4.05s, save: 4.67s)	[pipeline.py: 300]
+05/13 22:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:55 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=3.73s:
+  episode_total: mean=12.67s, total=126.75s, count=10, min=1483.9ms, max=69963.4ms
+  sensor_polling: mean=152.1ms, total=62.23s, count=409, min=137.3ms, max=398.8ms
+  save_trajectories: mean=4.67s, total=4.67s, count=1, min=4671.0ms, max=4671.0ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4052.4ms, max=4052.4ms
+  physics_step: mean=9.7ms, total=3.98s, count=409, min=7.4ms, max=15.4ms
+  task_sampling: mean=373.4ms, total=3.73s, count=10, min=264.3ms, max=514.1ms
+  task_specific_sample: mean=370.9ms, total=3.71s, count=10, min=261.9ms, max=511.1ms
+  scene_randomize: mean=1.2ms, total=11.8ms, count=10, min=0.7ms, max=1.8ms
+  mj_forward_sync: mean=292.1us, total=2.9ms, count=10, min=0.2ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.2ms, count=10, 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]
+05/13 22:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:56 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]
+05/13 22:47:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128352m	[env.py: 870]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32881908 -1.17806412 -0.1283516 ] yaw=-41.2deg	[env.py: 1019]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.5ms, total=215.6ms	[env.py: 1075]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.329, -1.178, -0.128)	[env.py: 1079]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/13 22:47:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:57 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:57 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]
+05/13 22:47:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:47:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:59 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:59 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.613[m] 83.258[deg]	[grasp_sample.py: 539]
+05/13 22:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.100s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:59 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.568[m] 74.387[deg]	[grasp_sample.py: 539]
+05/13 22:47:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:48:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:48:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.831s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.568[m] 74.387[deg]	[grasp_sample.py: 539]
+05/13 22:48:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:48:10 INFO: [Worker 0] Feasibility-checked 242 grasps in 58.892s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:10 INFO: [Worker 0] Feasible grasp found 398 (originally 91): w/ 0.063[m] 155.777[deg]	[grasp_sample.py: 539]
+05/13 22:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:10 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:48:11 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:48:12 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:48:12 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=0.29s:
+  episode_total: mean=32.50s, total=32.50s, count=1, min=32501.4ms, max=32501.4ms
+  sensor_polling: mean=150.8ms, total=10.86s, count=72, min=133.0ms, max=301.2ms
+  physics_step: mean=8.2ms, total=592.8ms, count=72, min=6.4ms, max=13.2ms
+  task_sampling: mean=286.3ms, total=286.3ms, count=1, min=286.3ms, max=286.3ms
+  task_specific_sample: mean=283.4ms, total=283.4ms, count=1, min=283.4ms, max=283.4ms
+  scene_randomize: mean=822.2us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  mj_forward_sync: mean=238.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  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]
+05/13 22:48:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:12 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]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172103m	[env.py: 870]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.01097865 -1.16258527 -0.17210255] yaw=-54.6deg	[env.py: 1019]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.88634487 -0.77269889 -0.17210255] yaw=-76.9deg	[env.py: 1019]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40467508 -0.88526288 -0.17210255] yaw=-77.9deg	[env.py: 1019]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=213.8ms, total=213.8ms	[env.py: 1075]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.011, -1.163, -0.172)	[env.py: 1079]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg	[env.py: 1082]
+05/13 22:48:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:12 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:14 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]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146577m	[env.py: 870]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=128.9ms, total=128.9ms	[env.py: 1105]
+05/13 22:48:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 14 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:48:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.645s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:14 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119337m	[env.py: 870]
+05/13 22:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26749525 -1.28917469 -0.11933718] yaw=-34.3deg	[env.py: 1019]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.03168242 -1.28707107 -0.11933718] yaw=-35.6deg	[env.py: 1019]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms	[env.py: 1075]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.289, -0.119)	[env.py: 1079]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.3 deg	[env.py: 1082]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:16 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125781m	[env.py: 870]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29771354 -0.91350792 -0.12578101] yaw=-52.1deg	[env.py: 1019]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.2ms, total=145.2ms	[env.py: 1075]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.914, -0.126)	[env.py: 1079]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg	[env.py: 1082]
+05/13 22:48:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:16 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:18 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:18 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.214s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.630[m] 91.268[deg]	[grasp_sample.py: 539]
+05/13 22:48:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156494m	[env.py: 870]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04694984 -1.33119506 -0.15649408] yaw=-46.4deg	[env.py: 1019]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.2ms	[env.py: 1075]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.047, -1.331, -0.156)	[env.py: 1079]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg	[env.py: 1082]
+05/13 22:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:22 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:48:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.521s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:23 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164410m	[env.py: 870]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1689527  -0.97488607 -0.16441013] yaw=-68.4deg	[env.py: 1019]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.0086375  -1.21959832 -0.16441013] yaw=-40.0deg	[env.py: 1019]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.2ms, total=164.2ms	[env.py: 1075]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -0.975, -0.164)	[env.py: 1079]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg	[env.py: 1082]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:25 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.549s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:27 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172722m	[env.py: 870]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.127935   -1.12914284 -0.17272162] yaw=-22.8deg	[env.py: 1019]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.70296003 -0.66511827 -0.17272162] yaw=-78.5deg	[env.py: 1019]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.1ms, total=134.1ms	[env.py: 1075]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.128, -1.129, -0.173)	[env.py: 1079]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.8 deg	[env.py: 1082]
+05/13 22:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:29 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:48:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:48:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 101 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:31 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.574s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:31 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:31 INFO: [Worker 0] Feasibility-checked 101 grasps in 1.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:31 INFO: [Worker 0] Feasible grasp found 132 (originally 132): w/ 0.030[m] 12.521[deg]	[grasp_sample.py: 539]
+05/13 22:48:32 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136426m	[env.py: 870]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40381476 -1.07469822 -0.13642581] yaw=-59.5deg	[env.py: 1019]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45736183 -0.82713438 -0.13642581] yaw=-71.9deg	[env.py: 1019]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.3ms	[env.py: 1075]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -1.075, -0.136)	[env.py: 1079]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:33 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195350m	[env.py: 870]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=120.9ms, total=120.9ms	[env.py: 1105]
+05/13 22:48:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:48:34 ERROR: [Worker 0] Worker 0 house 1 episode 13 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:48:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.635s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.618[m] 79.460[deg]	[grasp_sample.py: 539]
+05/13 22:48:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182156m	[env.py: 870]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04913987 -1.3639042  -0.18215625] yaw=-27.2deg	[env.py: 1019]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms	[env.py: 1075]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.049, -1.364, -0.182)	[env.py: 1079]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg	[env.py: 1082]
+05/13 22:48:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:35 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:37 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.444s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:37 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:37 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 22:48:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175179m	[env.py: 870]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88362964 -0.67757338 -0.17517879] yaw=-74.4deg	[env.py: 1019]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.7ms	[env.py: 1075]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.884, -0.678, -0.175)	[env.py: 1079]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg	[env.py: 1082]
+05/13 22:48:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:39 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:39 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]
+05/13 22:48:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:40 INFO: [Worker 0] Feasibility-checked 247 grasps in 1.461s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:40 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133430m	[env.py: 870]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63945899 -0.73702461 -0.13343032] yaw=-82.2deg	[env.py: 1019]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.6374741  -0.73117017 -0.13343032] yaw=-74.6deg	[env.py: 1019]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=119.2ms, total=119.2ms	[env.py: 1075]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.639, -0.737, -0.133)	[env.py: 1079]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.2 deg	[env.py: 1082]
+05/13 22:48:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:48:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:42 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:43 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:48:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.428s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:44 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142239m	[env.py: 870]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.82729467 -0.75021963 -0.14223864] yaw=-79.7deg	[env.py: 1019]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59342829 -0.99736609 -0.14223864] yaw=-85.6deg	[env.py: 1019]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12257473 -1.40411519 -0.14223864] yaw=5.6deg	[env.py: 1019]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.8ms, total=114.8ms	[env.py: 1075]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.827, -0.750, -0.142)	[env.py: 1079]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.7 deg	[env.py: 1082]
+05/13 22:48:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:51 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.298s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:51 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.696[m] 98.528[deg]	[grasp_sample.py: 539]
+05/13 22:48:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:48:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:57 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:48:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:48:57 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:49:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:02 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:49:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:49:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:49:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.72s (batch: 3.88s, save: 4.84s)	[pipeline.py: 300]
+05/13 22:49:07 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.40s:
+  episode_total: mean=70.26s, total=70.26s, count=1, min=70258.7ms, max=70258.7ms
+  sensor_polling: mean=155.7ms, total=40.49s, count=260, min=129.9ms, max=394.4ms
+  save_trajectories: mean=4.84s, total=4.84s, count=1, min=4835.8ms, max=4835.8ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.2ms, max=3883.2ms
+  physics_step: mean=10.2ms, total=2.65s, count=260, min=8.2ms, max=50.3ms
+  task_sampling: mean=395.7ms, total=395.7ms, count=1, min=395.7ms, max=395.7ms
+  task_specific_sample: mean=393.1ms, total=393.1ms, count=1, min=393.1ms, max=393.1ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=259.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:49:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105326m	[env.py: 870]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32113335 -0.94802263 -0.1053263 ] yaw=-75.7deg	[env.py: 1019]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.80242924 -0.93076858 -0.1053263 ] yaw=-53.1deg	[env.py: 1019]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.76530449 -0.86452787 -0.1053263 ] yaw=-61.0deg	[env.py: 1019]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.0ms, total=84.0ms	[env.py: 1075]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -0.948, -0.105)	[env.py: 1079]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg	[env.py: 1082]
+05/13 22:49:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 22:49:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:09 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:12 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:12 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.792[m] 101.891[deg]	[grasp_sample.py: 539]
+05/13 22:49:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:49:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:49:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:49:14 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 22:49:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:21 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:49:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:49:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:49:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.85s (batch: 3.10s, save: 4.76s)	[pipeline.py: 300]
+05/13 22:49:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:22 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.30s:
+  episode_total: mean=33.48s, total=66.96s, count=2, min=138.4ms, max=66821.2ms
+  sensor_polling: mean=150.7ms, total=39.94s, count=265, min=135.4ms, max=322.3ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4758.9ms, max=4758.9ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3095.8ms, max=3095.8ms
+  physics_step: mean=9.9ms, total=2.62s, count=265, min=8.0ms, max=14.8ms
+  task_specific_sample: mean=214.6ms, total=429.2ms, count=2, min=132.5ms, max=296.7ms
+  task_sampling: mean=299.9ms, total=299.9ms, count=1, min=299.9ms, max=299.9ms
+  task_sampling_failed: mean=138.4ms, total=138.4ms, count=1, min=138.4ms, max=138.4ms
+  scene_randomize: mean=839.5us, total=1.7ms, count=2, min=0.8ms, max=0.9ms
+  mj_forward_sync: mean=249.4us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:49:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175139m	[env.py: 870]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09791362 -1.34641985 -0.17513859] yaw=-14.1deg	[env.py: 1019]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66376819 -0.85058235 -0.17513859] yaw=-85.0deg	[env.py: 1019]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.8ms, total=188.8ms	[env.py: 1075]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.346, -0.175)	[env.py: 1079]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.1 deg	[env.py: 1082]
+05/13 22:49:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:24 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:26 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:26 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.672[m] 88.710[deg]	[grasp_sample.py: 539]
+05/13 22:49:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:27 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 22:49:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169339m	[env.py: 870]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.82557102 -0.82472447 -0.16933856] yaw=-107.9deg	[env.py: 1019]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.6ms, total=234.6ms	[env.py: 1075]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.826, -0.825, -0.169)	[env.py: 1079]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.9 deg	[env.py: 1082]
+05/13 22:49:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 22:49:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:29 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:29 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]
+05/13 22:49:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:29 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:29 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.718[m] 101.504[deg]	[grasp_sample.py: 539]
+05/13 22:49:30 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:49:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119692m	[env.py: 870]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.90126402 -0.83984279 -0.11969185] yaw=-102.5deg	[env.py: 1019]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.2ms, total=231.2ms	[env.py: 1075]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.901, -0.840, -0.120)	[env.py: 1079]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.5 deg	[env.py: 1082]
+05/13 22:49:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:32 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:33 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.790s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:33 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.665[m] 96.809[deg]	[grasp_sample.py: 539]
+05/13 22:49:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:49:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:49:34 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:49:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:49:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:49:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.10s (batch: 3.36s, save: 4.74s)	[pipeline.py: 300]
+05/13 22:49:42 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:42 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=2.54s:
+  episode_total: mean=24.84s, total=173.89s, count=7, min=1938.6ms, max=94411.9ms
+  sensor_polling: mean=156.5ms, total=65.25s, count=417, min=136.6ms, max=396.1ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4740.0ms, max=4740.0ms
+  physics_step: mean=9.7ms, total=4.06s, count=417, min=7.8ms, max=16.7ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3356.8ms, max=3356.8ms
+  task_sampling: mean=363.5ms, total=2.54s, count=7, min=283.1ms, max=635.8ms
+  task_specific_sample: mean=360.8ms, total=2.53s, count=7, min=281.1ms, max=633.0ms
+  scene_randomize: mean=1.4ms, total=9.6ms, count=7, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=273.6us, total=1.9ms, count=7, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:44 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]
+05/13 22:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191039m	[env.py: 870]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60959534 -0.71484178 -0.19103921] yaw=-73.5deg	[env.py: 1019]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38943174 -0.9832129  -0.19103921] yaw=-45.8deg	[env.py: 1019]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65556293 -0.90309829 -0.19103921] yaw=-68.5deg	[env.py: 1019]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=60.7ms, total=60.8ms	[env.py: 1075]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.610, -0.715, -0.191)	[env.py: 1079]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.5 deg	[env.py: 1082]
+05/13 22:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:44 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:45 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.890s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:45 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.525[m] 70.618[deg]	[grasp_sample.py: 539]
+05/13 22:49:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.535s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:49:46 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 22:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:48 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]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190487m	[env.py: 870]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6656844  -0.95394766 -0.19048689] yaw=-68.2deg	[env.py: 1019]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18468013 -0.97441951 -0.19048689] yaw=-35.2deg	[env.py: 1019]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23845303 -1.25385165 -0.19048689] yaw=-10.7deg	[env.py: 1019]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=110.8ms, total=110.8ms	[env.py: 1075]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.666, -0.954, -0.190)	[env.py: 1079]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg	[env.py: 1082]
+05/13 22:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:48 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:49 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.555[m] 84.321[deg]	[grasp_sample.py: 539]
+05/13 22:49:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:52 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:52 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.525[m] 70.621[deg]	[grasp_sample.py: 539]
+05/13 22:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:54 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:49:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:49:54 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 22:49:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:58 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:58 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.525[m] 70.621[deg]	[grasp_sample.py: 539]
+05/13 22:49:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:00 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:50:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.20s (batch: 2.91s, save: 5.29s)	[pipeline.py: 300]
+05/13 22:50:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:02 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.90s:
+  episode_total: mean=19.02s, total=133.16s, count=7, min=127.3ms, max=77117.3ms
+  sensor_polling: mean=147.8ms, total=76.09s, count=515, min=133.3ms, max=475.4ms
+  save_trajectories: mean=5.29s, total=5.29s, count=1, min=5289.7ms, max=5289.7ms
+  physics_step: mean=9.7ms, total=4.97s, count=515, min=7.5ms, max=16.9ms
+  save_batch_prep: mean=2.91s, total=2.91s, count=1, min=2913.3ms, max=2913.3ms
+  task_specific_sample: mean=287.8ms, total=2.01s, count=7, min=124.8ms, max=548.0ms
+  task_sampling: mean=317.4ms, total=1.90s, count=6, min=258.0ms, max=550.6ms
+  task_sampling_failed: mean=127.3ms, total=127.3ms, count=1, min=127.3ms, max=127.3ms
+  scene_randomize: mean=1.0ms, total=7.0ms, count=7, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=273.9us, total=1.9ms, count=7, min=0.2ms, max=0.4ms
+  policy_setup: mean=14.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:50:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:04 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:50:04 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:50:04 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=False episode_total=1.12s:
+  episode_total: mean=12.11s, total=36.33s, count=3, min=1608.2ms, max=32027.4ms
+  sensor_polling: mean=147.9ms, total=10.65s, count=72, min=139.6ms, max=171.6ms
+  task_sampling: mean=374.0ms, total=1.12s, count=3, min=356.8ms, max=383.6ms
+  task_specific_sample: mean=371.6ms, total=1.11s, count=3, min=354.3ms, max=381.8ms
+  physics_step: mean=8.1ms, total=583.1ms, count=72, min=6.3ms, max=9.8ms
+  scene_randomize: mean=1.2ms, total=3.5ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=290.3us, total=0.9ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=16.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:50:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:04 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]
+05/13 22:50:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170859m	[env.py: 870]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=367.6ms, total=367.6ms	[env.py: 1105]
+05/13 22:50:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:50:04 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:06 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]
+05/13 22:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176749m	[env.py: 870]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=150.3ms, total=150.3ms	[env.py: 1105]
+05/13 22:50:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:50:06 ERROR: [Worker 0] Worker 0 house 1 episode 19 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:50:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:06 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]
+05/13 22:50:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149490m	[env.py: 870]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.220933   -1.15117128 -0.14949002] yaw=-61.0deg	[env.py: 1019]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.33088041 -1.04076098 -0.14949002] yaw=-31.3deg	[env.py: 1019]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90040673 -0.83273386 -0.14949002] yaw=-93.3deg	[env.py: 1019]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.9ms, total=155.9ms	[env.py: 1075]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.151, -0.149)	[env.py: 1079]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 22:50:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:06 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:06 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]
+05/13 22:50:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111297m	[env.py: 870]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08808422 -1.12857126 -0.11129729] yaw=-38.5deg	[env.py: 1019]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40498342 -0.79327124 -0.11129729] yaw=-85.5deg	[env.py: 1019]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89127353 -0.91159122 -0.11129729] yaw=-62.6deg	[env.py: 1019]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.8ms, total=288.8ms	[env.py: 1075]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.088, -1.129, -0.111)	[env.py: 1079]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg	[env.py: 1082]
+05/13 22:50:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:08 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:10 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:50:10 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:50:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:11 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.695[m] 86.237[deg]	[grasp_sample.py: 539]
+05/13 22:50:11 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125503m	[env.py: 870]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46023918 -1.08112205 -0.12550255] yaw=-61.3deg	[env.py: 1019]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24281953 -1.05719358 -0.12550255] yaw=-43.4deg	[env.py: 1019]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44751158 -0.84534849 -0.12550255] yaw=-50.3deg	[env.py: 1019]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.9ms, total=141.0ms	[env.py: 1075]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.081, -0.126)	[env.py: 1079]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/13 22:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:50:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:12 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.606[m] 91.467[deg]	[grasp_sample.py: 539]
+05/13 22:50:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168569m	[env.py: 870]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=126.4ms, total=126.5ms	[env.py: 1105]
+05/13 22:50:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:50:13 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:50:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:13 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:50:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:13 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/13 22:50:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119680m	[env.py: 870]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77890313 -0.68797772 -0.11968022] yaw=-94.6deg	[env.py: 1019]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14319887 -1.25096519 -0.11968022] yaw=-23.7deg	[env.py: 1019]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24620622 -1.35020561 -0.11968022] yaw=-52.1deg	[env.py: 1019]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.4ms	[env.py: 1075]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.779, -0.688, -0.120)	[env.py: 1079]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.6 deg	[env.py: 1082]
+05/13 22:50:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:15 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.445s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:50:16 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:50:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:18 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]
+05/13 22:50:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114776m	[env.py: 870]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26926074 -1.20991922 -0.11477606] yaw=-8.9deg	[env.py: 1019]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.7038417  -0.85154311 -0.11477606] yaw=-102.1deg	[env.py: 1019]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=173.4ms, total=173.4ms	[env.py: 1075]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.269, -1.210, -0.115)	[env.py: 1079]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.9 deg	[env.py: 1082]
+05/13 22:50:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:18 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:21 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.513s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:21 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.728[m] 87.120[deg]	[grasp_sample.py: 539]
+05/13 22:50:21 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:50:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:50:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.94s (batch: 3.68s, save: 5.26s)	[pipeline.py: 300]
+05/13 22:50:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185814m	[env.py: 870]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54895951 -0.90695608 -0.1858137 ] yaw=-72.8deg	[env.py: 1019]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24998974 -0.96076985 -0.1858137 ] yaw=-54.6deg	[env.py: 1019]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.907, -0.186)	[env.py: 1079]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.8 deg	[env.py: 1082]
+05/13 22:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:23 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.28s:
+  episode_total: mean=74.62s, total=74.62s, count=1, min=74615.9ms, max=74615.9ms
+  sensor_polling: mean=153.0ms, total=43.92s, count=287, min=133.3ms, max=312.1ms
+  save_trajectories: mean=5.26s, total=5.26s, count=1, min=5259.3ms, max=5259.3ms
+  save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3684.4ms, max=3684.4ms
+  physics_step: mean=9.9ms, total=2.85s, count=287, min=7.9ms, max=14.1ms
+  task_sampling: mean=277.2ms, total=277.2ms, count=1, min=277.2ms, max=277.2ms
+  task_specific_sample: mean=273.9ms, total=273.9ms, count=1, min=273.9ms, max=273.9ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=381.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:50:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:23 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.644[m] 95.132[deg]	[grasp_sample.py: 539]
+05/13 22:50:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:25 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]
+05/13 22:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184901m	[env.py: 870]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05053091 -1.21792468 -0.18490063] yaw=-4.3deg	[env.py: 1019]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=434.2ms, total=434.2ms	[env.py: 1075]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.051, -1.218, -0.185)	[env.py: 1079]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.3 deg	[env.py: 1082]
+05/13 22:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:26 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:26 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]
+05/13 22:50:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:27 INFO: [Worker 0] Feasibility-checked 230 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:50:27 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:50:27 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 22:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152657m	[env.py: 870]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.91103989 -0.75743766 -0.15265657] yaw=-98.3deg	[env.py: 1019]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.42634112 -0.92067767 -0.15265657] yaw=-75.0deg	[env.py: 1019]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28833432 -0.85757288 -0.15265657] yaw=-79.6deg	[env.py: 1019]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=256.6ms, total=256.6ms	[env.py: 1075]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.911, -0.757, -0.153)	[env.py: 1079]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.3 deg	[env.py: 1082]
+05/13 22:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:29 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:33 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:50:38 INFO: [Worker 0] Feasibility-checked 243 grasps in 8.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.758[m] 106.132[deg]	[grasp_sample.py: 539]
+05/13 22:50:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:46 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:50:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:46 INFO: [Worker 0] Preparing episode data: 247 timesteps	[save_utils.py: 278]
+05/13 22:50:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:50:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:50:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.23s (batch: 4.79s, save: 4.44s)	[pipeline.py: 300]
+05/13 22:50:56 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.49s:
+  episode_total: mean=34.95s, total=69.89s, count=2, min=1880.7ms, max=68011.4ms
+  sensor_polling: mean=160.0ms, total=39.37s, count=246, min=137.2ms, max=423.6ms
+  save_batch_prep: mean=4.79s, total=4.79s, count=1, min=4791.2ms, max=4791.2ms
+  save_trajectories: mean=4.44s, total=4.44s, count=1, min=4440.8ms, max=4440.8ms
+  physics_step: mean=10.0ms, total=2.45s, count=246, min=8.1ms, max=31.6ms
+  task_sampling: mean=246.4ms, total=492.8ms, count=2, min=229.7ms, max=263.1ms
+  task_specific_sample: mean=244.0ms, total=488.0ms, count=2, min=227.2ms, max=260.9ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=279.3us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  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]
+05/13 22:50:57 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123495m	[env.py: 870]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00359893 -1.22615475 -0.12349494] yaw=-16.7deg	[env.py: 1019]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4471755  -1.0775701  -0.12349494] yaw=-29.2deg	[env.py: 1019]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31197641 -1.00215238 -0.12349494] yaw=-59.0deg	[env.py: 1019]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.8ms, total=117.8ms	[env.py: 1075]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.004, -1.226, -0.123)	[env.py: 1079]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.7 deg	[env.py: 1082]
+05/13 22:50:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:58 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:00 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.746s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:51:00 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:51:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111175m	[env.py: 870]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63340935 -0.93936907 -0.11117495] yaw=-95.0deg	[env.py: 1019]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66036408 -0.92098857 -0.11117495] yaw=-53.0deg	[env.py: 1019]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.0ms, total=239.0ms	[env.py: 1075]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.939, -0.111)	[env.py: 1079]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.0 deg	[env.py: 1082]
+05/13 22:51:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:02 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 249 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:03 INFO: [Worker 0] Feasibility-checked 249 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:03 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.692[m] 99.938[deg]	[grasp_sample.py: 539]
+05/13 22:51:04 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111779m	[env.py: 870]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21030701 -1.32232642 -0.11177885] yaw=-4.4deg	[env.py: 1019]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69456926 -0.77006395 -0.11177885] yaw=-77.7deg	[env.py: 1019]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16630047 -1.21519207 -0.11177885] yaw=-32.3deg	[env.py: 1019]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.7ms	[env.py: 1075]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.322, -0.112)	[env.py: 1079]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.4 deg	[env.py: 1082]
+05/13 22:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:06 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:06 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]
+05/13 22:51:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:51:07 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.626s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:07 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.690[m] 86.468[deg]	[grasp_sample.py: 539]
+05/13 22:51:07 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:09 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]
+05/13 22:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120830m	[env.py: 870]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24131504 -1.28852408 -0.12082956] yaw=-44.8deg	[env.py: 1019]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.87294226 -0.90802752 -0.12082956] yaw=-60.4deg	[env.py: 1019]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:09 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27392238 -1.27508784 -0.12082956] yaw=-58.4deg	[env.py: 1019]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.8ms, total=118.8ms	[env.py: 1075]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.289, -0.121)	[env.py: 1079]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/13 22:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m	[env.py: 1086]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:09 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:51:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:51:10 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:51:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:51:13 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.992s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:13 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.623[m] 86.531[deg]	[grasp_sample.py: 539]
+05/13 22:51:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:51:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:51:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.34s (batch: 3.33s, save: 5.01s)	[pipeline.py: 300]
+05/13 22:51:19 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.75s:
+  episode_total: mean=23.32s, total=69.95s, count=3, min=155.9ms, max=67726.8ms
+  sensor_polling: mean=149.5ms, total=38.41s, count=257, min=135.8ms, max=315.5ms
+  save_trajectories: mean=5.01s, total=5.01s, count=1, min=5011.4ms, max=5011.4ms
+  save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3325.6ms, max=3325.6ms
+  physics_step: mean=9.7ms, total=2.48s, count=257, min=8.0ms, max=14.7ms
+  task_specific_sample: mean=300.7ms, total=902.2ms, count=3, min=153.5ms, max=483.2ms
+  task_sampling: mean=377.1ms, total=754.2ms, count=2, min=267.6ms, max=486.6ms
+  task_sampling_failed: mean=155.9ms, total=155.9ms, count=1, min=155.9ms, max=155.9ms
+  scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=261.3us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175836m	[env.py: 870]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17897783 -1.1638627  -0.17583582] yaw=-41.1deg	[env.py: 1019]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47884026 -0.74935891 -0.17583582] yaw=-86.2deg	[env.py: 1019]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.0ms, total=139.0ms	[env.py: 1075]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.164, -0.176)	[env.py: 1079]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.1 deg	[env.py: 1082]
+05/13 22:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:21 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:51:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:51:21 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 22:51:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:21 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:23 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.151s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.670[m] 86.855[deg]	[grasp_sample.py: 539]
+05/13 22:51:24 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:51:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:26 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]
+05/13 22:51:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188309m	[env.py: 870]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61643714 -0.9838041  -0.18830946] yaw=-84.0deg	[env.py: 1019]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47970443 -0.93895391 -0.18830946] yaw=-70.1deg	[env.py: 1019]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=313.3ms, total=313.3ms	[env.py: 1075]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.984, -0.188)	[env.py: 1079]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.0 deg	[env.py: 1082]
+05/13 22:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:26 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:27 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.632[m] 94.749[deg]	[grasp_sample.py: 539]
+05/13 22:51:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:51:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:51:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:51:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.34s (batch: 2.80s, save: 4.53s)	[pipeline.py: 300]
+05/13 22:51:29 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=1.17s:
+  episode_total: mean=12.84s, total=77.02s, count=6, min=133.4ms, max=66071.1ms
+  sensor_polling: mean=149.6ms, total=38.90s, count=260, min=131.3ms, max=530.9ms
+  save_trajectories: mean=4.53s, total=4.53s, count=1, min=4534.2ms, max=4534.2ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2804.9ms, max=2804.9ms
+  physics_step: mean=9.7ms, total=2.52s, count=260, min=7.3ms, max=14.8ms
+  task_specific_sample: mean=276.4ms, total=1.66s, count=6, min=130.3ms, max=371.5ms
+  task_sampling: mean=291.5ms, total=1.17s, count=4, min=255.0ms, max=325.8ms
+  task_sampling_failed: mean=254.6ms, total=509.2ms, count=2, min=133.4ms, max=375.9ms
+  scene_randomize: mean=1.1ms, total=6.9ms, count=6, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=278.2us, total=1.7ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=11.4us, total=0.0ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:51:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135301m	[env.py: 870]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22431328 -0.93299631 -0.13530128] yaw=-70.1deg	[env.py: 1019]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=89.8ms, total=89.9ms	[env.py: 1075]
+05/13 22:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -0.933, -0.135)	[env.py: 1079]
+05/13 22:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.1 deg	[env.py: 1082]
+05/13 22:51:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/13 22:51:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:31 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:32 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.518s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:51:32 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:51:33 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:51:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140389m	[env.py: 870]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=102.2ms, total=102.2ms	[env.py: 1105]
+05/13 22:51:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:51:34 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]
+05/13 22:51:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164801m	[env.py: 870]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16012948 -1.00059677 -0.16480074] yaw=-34.0deg	[env.py: 1019]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28413546 -1.04527554 -0.16480074] yaw=-50.0deg	[env.py: 1019]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.69442335 -0.90170666 -0.16480074] yaw=-45.1deg	[env.py: 1019]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.9ms, total=138.9ms	[env.py: 1075]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.001, -0.165)	[env.py: 1079]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.0 deg	[env.py: 1082]
+05/13 22:51:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:36 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:37 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.487s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:51:37 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:51:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:39 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]
+05/13 22:51:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123446m	[env.py: 870]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09631729 -1.27454853 -0.12344634] yaw=-40.6deg	[env.py: 1019]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48873881 -0.76440514 -0.12344634] yaw=-36.2deg	[env.py: 1019]
+05/13 22:51:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62548157 -0.72584279 -0.12344634] yaw=-65.8deg	[env.py: 1019]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.1ms, total=102.1ms	[env.py: 1075]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.096, -1.275, -0.123)	[env.py: 1079]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg	[env.py: 1082]
+05/13 22:51:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:39 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:39 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]
+05/13 22:51:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:41 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:51:41 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:51:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185958m	[env.py: 870]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34270144 -1.12783362 -0.18595829] yaw=-41.8deg	[env.py: 1019]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53646117 -0.90126757 -0.18595829] yaw=-68.4deg	[env.py: 1019]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24855118 -1.23677828 -0.18595829] yaw=-10.7deg	[env.py: 1019]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=311.9ms, total=311.9ms	[env.py: 1075]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -1.128, -0.186)	[env.py: 1079]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg	[env.py: 1082]
+05/13 22:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 22:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:43 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:45 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.006s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.612[m] 93.641[deg]	[grasp_sample.py: 539]
+05/13 22:51:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:51:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:51:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:51:48 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/13 22:51:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:58 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:51:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:51:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:51:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.19s (batch: 5.88s, save: 5.31s)	[pipeline.py: 300]
+05/13 22:52:00 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.05s:
+  episode_total: mean=46.59s, total=93.17s, count=2, min=2236.0ms, max=90937.3ms
+  sensor_polling: mean=155.2ms, total=44.55s, count=287, min=134.8ms, max=404.2ms
+  save_batch_prep: mean=5.88s, total=5.88s, count=1, min=5877.0ms, max=5877.0ms
+  save_trajectories: mean=5.31s, total=5.31s, count=1, min=5309.7ms, max=5309.7ms
+  physics_step: mean=9.9ms, total=2.85s, count=287, min=8.6ms, max=15.7ms
+  task_sampling: mean=524.6ms, total=1.05s, count=2, min=413.1ms, max=636.1ms
+  task_specific_sample: mean=521.8ms, total=1.04s, count=2, min=410.3ms, max=633.3ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.0ms, max=1.6ms
+  mj_forward_sync: mean=269.8us, total=0.5ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:52:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155872m	[env.py: 870]
+05/13 22:52:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=112.7ms, total=112.7ms	[env.py: 1105]
+05/13 22:52:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:52:03 ERROR: [Worker 0] Worker 0 house 1 episode 18 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:52:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115890m	[env.py: 870]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00322945 -1.21165584 -0.1158897 ] yaw=-48.0deg	[env.py: 1019]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.76734294 -0.824195   -0.1158897 ] yaw=-83.3deg	[env.py: 1019]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50914544 -0.97708129 -0.1158897 ] yaw=-41.7deg	[env.py: 1019]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.8ms, total=108.8ms	[env.py: 1075]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.003, -1.212, -0.116)	[env.py: 1079]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 22:52:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:05 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:07 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.518s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:52:07 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:52:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168919m	[env.py: 870]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1334295  -1.30488038 -0.16891875] yaw=-4.8deg	[env.py: 1019]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59509524 -0.70460263 -0.16891875] yaw=-98.2deg	[env.py: 1019]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.5ms, total=141.5ms	[env.py: 1075]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.133, -1.305, -0.169)	[env.py: 1079]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.8 deg	[env.py: 1082]
+05/13 22:52:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:52:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:52:10 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:52:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:10 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:12 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:52:13 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:13 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.690[m] 91.887[deg]	[grasp_sample.py: 539]
+05/13 22:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187134m	[env.py: 870]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.82282749 -0.82050198 -0.18713424] yaw=-79.9deg	[env.py: 1019]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23302914 -1.30402082 -0.18713424] yaw=-43.0deg	[env.py: 1019]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82201719 -0.9099889  -0.18713424] yaw=-71.7deg	[env.py: 1019]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=345.9ms, total=345.9ms	[env.py: 1075]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.823, -0.821, -0.187)	[env.py: 1079]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.9 deg	[env.py: 1082]
+05/13 22:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:17 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:17 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:17 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.667[m] 97.980[deg]	[grasp_sample.py: 539]
+05/13 22:52:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:52:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:52:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.94s (batch: 3.13s, save: 4.81s)	[pipeline.py: 300]
+05/13 22:52:19 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.24s:
+  episode_total: mean=18.83s, total=75.34s, count=4, min=1513.2ms, max=69900.5ms
+  sensor_polling: mean=155.4ms, total=40.70s, count=262, min=138.9ms, max=330.7ms
+  save_trajectories: mean=4.81s, total=4.81s, count=1, min=4812.3ms, max=4812.3ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3127.2ms, max=3127.2ms
+  physics_step: mean=10.1ms, total=2.66s, count=262, min=8.0ms, max=28.4ms
+  task_sampling: mean=309.4ms, total=1.24s, count=4, min=261.5ms, max=404.9ms
+  task_specific_sample: mean=306.9ms, total=1.23s, count=4, min=259.6ms, max=401.4ms
+  scene_randomize: mean=1.1ms, total=4.4ms, count=4, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=270.3us, total=1.1ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126258m	[env.py: 870]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21635252 -1.09512586 -0.12625786] yaw=-35.7deg	[env.py: 1019]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45052595 -0.98030317 -0.12625786] yaw=-82.3deg	[env.py: 1019]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.0ms	[env.py: 1075]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.095, -0.126)	[env.py: 1079]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg	[env.py: 1082]
+05/13 22:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:21 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.759[m] 83.533[deg]	[grasp_sample.py: 539]
+05/13 22:52:23 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:52:24 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:52:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:52:24 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:52:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120214m	[env.py: 870]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36616548 -1.14142638 -0.12021361] yaw=-23.4deg	[env.py: 1019]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83029204 -0.83641297 -0.12021361] yaw=-84.4deg	[env.py: 1019]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20983257 -1.42468682 -0.12021361] yaw=-16.6deg	[env.py: 1019]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.0ms, total=59.0ms	[env.py: 1075]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.141, -0.120)	[env.py: 1079]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.4 deg	[env.py: 1082]
+05/13 22:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:25 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:27 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.649[m] 84.478[deg]	[grasp_sample.py: 539]
+05/13 22:52:27 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:52:27 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:52:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120450m	[env.py: 870]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10998223 -1.38356641 -0.12045024] yaw=-12.5deg	[env.py: 1019]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.8ms	[env.py: 1075]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.384, -0.120)	[env.py: 1079]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.5 deg	[env.py: 1082]
+05/13 22:52:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:29 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:31 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:31 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.677[m] 80.111[deg]	[grasp_sample.py: 539]
+05/13 22:52:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:52:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:52:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.87s (batch: 3.05s, save: 4.82s)	[pipeline.py: 300]
+05/13 22:52:32 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.81s:
+  episode_total: mean=34.89s, total=69.78s, count=2, min=3139.6ms, max=66636.0ms
+  sensor_polling: mean=153.1ms, total=39.34s, count=257, min=136.5ms, max=317.9ms
+  save_trajectories: mean=4.82s, total=4.82s, count=1, min=4819.9ms, max=4819.9ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3046.1ms, max=3046.1ms
+  physics_step: mean=9.9ms, total=2.54s, count=257, min=8.1ms, max=15.2ms
+  task_sampling: mean=402.6ms, total=805.3ms, count=2, min=326.3ms, max=479.0ms
+  task_specific_sample: mean=400.0ms, total=800.0ms, count=2, min=323.5ms, max=476.5ms
+  scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=310.3us, total=0.6ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180775m	[env.py: 870]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33454005 -0.98939811 -0.18077539] yaw=-47.6deg	[env.py: 1019]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74957358 -0.67728372 -0.18077539] yaw=-80.9deg	[env.py: 1019]
+05/13 22:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=429.3ms, total=429.4ms	[env.py: 1075]
+05/13 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.989, -0.181)	[env.py: 1079]
+05/13 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 22:52:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:35 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.673s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:38 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.665[m] 84.741[deg]	[grasp_sample.py: 539]
+05/13 22:52:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:38 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:52:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:52:38 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 22:52:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:52:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:52:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.79s (batch: 2.90s, save: 4.89s)	[pipeline.py: 300]
+05/13 22:52:47 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.26s:
+  episode_total: mean=13.99s, total=69.96s, count=5, min=108.2ms, max=64300.9ms
+  sensor_polling: mean=147.3ms, total=38.15s, count=259, min=133.5ms, max=431.9ms
+  save_trajectories: mean=4.89s, total=4.89s, count=1, min=4890.9ms, max=4890.9ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2902.5ms, max=2902.5ms
+  physics_step: mean=9.6ms, total=2.48s, count=259, min=7.4ms, max=14.3ms
+  task_specific_sample: mean=271.6ms, total=1.36s, count=5, min=105.3ms, max=474.1ms
+  task_sampling: mean=315.5ms, total=1.26s, count=4, min=219.4ms, max=476.5ms
+  task_sampling_failed: mean=108.2ms, total=108.2ms, count=1, min=108.2ms, max=108.2ms
+  scene_randomize: mean=1.1ms, total=5.4ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=255.7us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=12.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142995m	[env.py: 870]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49853247 -0.73869391 -0.14299542] yaw=-37.9deg	[env.py: 1019]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=90.2ms, total=90.2ms	[env.py: 1075]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.499, -0.739, -0.143)	[env.py: 1079]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.9 deg	[env.py: 1082]
+05/13 22:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:48 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.473s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:52:50 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:52:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:52 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]
+05/13 22:52:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:52 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]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117083m	[env.py: 870]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14850018 -1.05634677 -0.11708281] yaw=-18.7deg	[env.py: 1019]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15113846 -1.13715884 -0.11708281] yaw=-23.1deg	[env.py: 1019]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05737957 -1.23065347 -0.11708281] yaw=-54.0deg	[env.py: 1019]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=63.9ms, total=63.9ms	[env.py: 1075]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.056, -0.117)	[env.py: 1079]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.7 deg	[env.py: 1082]
+05/13 22:52:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:52 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:52 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]
+05/13 22:52:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:53 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.469s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:52:53 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181954m	[env.py: 870]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54377383 -0.96723714 -0.18195399] yaw=-90.4deg	[env.py: 1019]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26484234 -1.04071731 -0.18195399] yaw=-33.7deg	[env.py: 1019]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15863193 -1.16478132 -0.18195399] yaw=-41.9deg	[env.py: 1019]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=34.3ms, total=34.4ms	[env.py: 1075]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.544, -0.967, -0.182)	[env.py: 1079]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.4 deg	[env.py: 1082]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:55 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:55 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]
+05/13 22:52:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:56 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.678[m] 96.919[deg]	[grasp_sample.py: 539]
+05/13 22:52:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:04 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:05 INFO: [Worker 0] Object is not in grasp! 0.00155 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:53:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:05 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]
+05/13 22:53:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:05 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 1.633[deg]	[grasp_sample.py: 539]
+05/13 22:53:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:53:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:53:10 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:10 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.539[m] 72.331[deg]	[grasp_sample.py: 539]
+05/13 22:53:10 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:53:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:12 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]
+05/13 22:53:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152531m	[env.py: 870]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09263995 -1.33340154 -0.15253051] yaw=0.3deg	[env.py: 1019]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60821402 -0.8572896  -0.15253051] yaw=-80.7deg	[env.py: 1019]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54106661 -0.76874412 -0.15253051] yaw=-67.4deg	[env.py: 1019]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=79.1ms, total=79.1ms	[env.py: 1075]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.093, -1.333, -0.153)	[env.py: 1079]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.3 deg	[env.py: 1082]
+05/13 22:53:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:12 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 224 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:16 INFO: [Worker 0] Feasibility-checked 224 grasps in 3.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:16 INFO: [Worker 0] Feasible grasp found 546 (originally 239): w/ 0.713[m] 152.207[deg]	[grasp_sample.py: 539]
+05/13 22:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:16 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115468m	[env.py: 870]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52267027 -0.7561133  -0.11546834] yaw=-83.5deg	[env.py: 1019]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20774309 -1.00663823 -0.11546834] yaw=-66.9deg	[env.py: 1019]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.0ms, total=125.1ms	[env.py: 1075]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.756, -0.115)	[env.py: 1079]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.5 deg	[env.py: 1082]
+05/13 22:53:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:18 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:53:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:19 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 22:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:20 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.480s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:53:20 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:20 INFO: [Worker 0] Object is not in grasp! 0.00099 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:53:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.033s, found 512 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131256m	[env.py: 870]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36947265 -0.88746839 -0.13125642] yaw=-41.9deg	[env.py: 1019]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=117.9ms, total=117.9ms	[env.py: 1075]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.369, -0.887, -0.131)	[env.py: 1079]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.9 deg	[env.py: 1082]
+05/13 22:53:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m	[env.py: 1086]
+05/13 22:53:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:22 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.688s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:53:22 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:53:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109107m	[env.py: 870]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09399314 -1.39593443 -0.10910745] yaw=-22.3deg	[env.py: 1019]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68204793 -0.81384978 -0.10910745] yaw=-73.2deg	[env.py: 1019]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.6ms, total=145.6ms	[env.py: 1075]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.094, -1.396, -0.109)	[env.py: 1079]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.3 deg	[env.py: 1082]
+05/13 22:53:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.919m	[env.py: 1086]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:24 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:26 INFO: [Worker 0] Feasibility-checked 241 grasps in 1.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:26 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.691[m] 87.499[deg]	[grasp_sample.py: 539]
+05/13 22:53:26 INFO: [Worker 0] Feasibility-checked 238 grasps in 4.359s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:26 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:53:26 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:53:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:53:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.93s (batch: 4.00s, save: 4.93s)	[pipeline.py: 300]
+05/13 22:53:28 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148990m	[env.py: 870]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35940531 -1.17328671 -0.14899024] yaw=-60.8deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.8861818  -0.93027051 -0.14899024] yaw=-81.5deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18527811 -1.2559649  -0.14899024] yaw=-53.0deg	[env.py: 1019]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.4ms, total=98.4ms	[env.py: 1075]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.173, -0.149)	[env.py: 1079]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 22:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m	[env.py: 1086]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:28 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:28 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.17s:
+  episode_total: mean=19.59s, total=78.37s, count=4, min=124.3ms, max=72395.0ms
+  sensor_polling: mean=158.2ms, total=42.70s, count=270, min=132.6ms, max=364.7ms
+  save_trajectories: mean=4.93s, total=4.93s, count=1, min=4928.6ms, max=4928.6ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=3999.0ms, max=3999.0ms
+  physics_step: mean=10.1ms, total=2.71s, count=270, min=8.0ms, max=14.5ms
+  task_specific_sample: mean=319.1ms, total=1.28s, count=4, min=118.1ms, max=546.9ms
+  task_sampling: mean=389.3ms, total=1.17s, count=3, min=307.2ms, max=550.4ms
+  task_sampling_failed: mean=124.3ms, total=124.3ms, count=1, min=124.3ms, max=124.3ms
+  scene_randomize: mean=2.0ms, total=7.8ms, count=4, min=1.0ms, max=3.6ms
+  mj_forward_sync: mean=284.8us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:53:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169141m	[env.py: 870]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43818896 -1.05685398 -0.16914082] yaw=-24.3deg	[env.py: 1019]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2296413  -1.03979522 -0.16914082] yaw=-23.2deg	[env.py: 1019]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5848238  -0.88962416 -0.16914082] yaw=-62.4deg	[env.py: 1019]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.3ms, total=69.3ms	[env.py: 1075]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -1.057, -0.169)	[env.py: 1079]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.3 deg	[env.py: 1082]
+05/13 22:53:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:29 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.582[m] 93.893[deg]	[grasp_sample.py: 539]
+05/13 22:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:30 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.051s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.664[m] 82.113[deg]	[grasp_sample.py: 539]
+05/13 22:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195808m	[env.py: 870]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.72404974 -0.67563083 -0.19580841] yaw=-74.7deg	[env.py: 1019]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.1ms, total=200.1ms	[env.py: 1075]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.724, -0.676, -0.196)	[env.py: 1079]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg	[env.py: 1082]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m	[env.py: 1086]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:31 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.573s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:53:33 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:53:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175251m	[env.py: 870]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42843378 -1.06973899 -0.17525058] yaw=-60.6deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20998887 -1.37459839 -0.17525058] yaw=-49.3deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6390151  -0.91982568 -0.17525058] yaw=-68.4deg	[env.py: 1019]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=58.9ms, total=59.0ms	[env.py: 1075]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -1.070, -0.175)	[env.py: 1079]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg	[env.py: 1082]
+05/13 22:53:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:36 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:38 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.606[m] 86.563[deg]	[grasp_sample.py: 539]
+05/13 22:53:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:42 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:53:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:53:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:53:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:53:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.49s (batch: 4.99s, save: 5.50s)	[pipeline.py: 300]
+05/13 22:53:54 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.62s:
+  episode_total: mean=79.53s, total=79.53s, count=1, min=79526.9ms, max=79526.9ms
+  sensor_polling: mean=151.1ms, total=45.34s, count=300, min=141.1ms, max=340.8ms
+  save_trajectories: mean=5.50s, total=5.50s, count=1, min=5500.2ms, max=5500.2ms
+  save_batch_prep: mean=4.99s, total=4.99s, count=1, min=4991.9ms, max=4991.9ms
+  physics_step: mean=9.9ms, total=2.96s, count=300, min=7.6ms, max=24.0ms
+  task_sampling: mean=617.6ms, total=617.6ms, count=1, min=617.6ms, max=617.6ms
+  task_specific_sample: mean=615.1ms, total=615.1ms, count=1, min=615.1ms, max=615.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=281.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:53:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:53:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:55 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]
+05/13 22:53:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191251m	[env.py: 870]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1105]
+05/13 22:53:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:53:56 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]
+05/13 22:53:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127430m	[env.py: 870]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23702933 -1.0349912  -0.12742969] yaw=-38.1deg	[env.py: 1019]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61477248 -0.96013709 -0.12742969] yaw=-69.5deg	[env.py: 1019]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45328618 -1.04437902 -0.12742969] yaw=-41.8deg	[env.py: 1019]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.035, -0.127)	[env.py: 1079]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg	[env.py: 1082]
+05/13 22:53:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:58 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:58 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]
+05/13 22:53:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:58 INFO: [Worker 0] Object is not in grasp! 0.00092 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:53:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:58 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]
+05/13 22:53:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.072s, found 105 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:58 INFO: [Worker 0] Feasibility-checked 105 grasps in 0.419s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 3.134[deg]	[grasp_sample.py: 539]
+05/13 22:53:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.209s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:00 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.738[m] 97.154[deg]	[grasp_sample.py: 539]
+05/13 22:54:00 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192703m	[env.py: 870]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.84885689 -0.66030901 -0.19270326] yaw=-75.9deg	[env.py: 1019]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.73104193 -0.91358767 -0.19270326] yaw=-63.7deg	[env.py: 1019]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=299.5ms, total=299.5ms	[env.py: 1075]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.849, -0.660, -0.193)	[env.py: 1079]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.9 deg	[env.py: 1082]
+05/13 22:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:03 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.442s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:04 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188531m	[env.py: 870]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21861012 -1.27604246 -0.18853088] yaw=-48.1deg	[env.py: 1019]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73297537 -0.68685329 -0.18853088] yaw=-68.3deg	[env.py: 1019]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.1ms, total=142.1ms	[env.py: 1075]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.276, -0.189)	[env.py: 1079]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg	[env.py: 1082]
+05/13 22:54:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:06 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.454s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:10 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.617[m] 96.467[deg]	[grasp_sample.py: 539]
+05/13 22:54:10 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:54:10 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197782m	[env.py: 870]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.7053899  -0.72332378 -0.19778237] yaw=-78.2deg	[env.py: 1019]
+05/13 22:54:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10129044 -1.4144902  -0.19778237] yaw=-39.5deg	[env.py: 1019]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=431.2ms, total=431.2ms	[env.py: 1075]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.705, -0.723, -0.198)	[env.py: 1079]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.2 deg	[env.py: 1082]
+05/13 22:54:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:13 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.064s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:16 INFO: [Worker 0] Feasibility-checked 243 grasps in 3.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:16 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.697[m] 95.343[deg]	[grasp_sample.py: 539]
+05/13 22:54:17 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118791m	[env.py: 870]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67344193 -0.67739259 -0.11879146] yaw=-101.9deg	[env.py: 1019]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09014369 -1.30387856 -0.11879146] yaw=-53.3deg	[env.py: 1019]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07379248 -1.23846673 -0.11879146] yaw=-30.2deg	[env.py: 1019]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.7ms, total=150.7ms	[env.py: 1075]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.677, -0.119)	[env.py: 1079]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.9 deg	[env.py: 1082]
+05/13 22:54:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:19 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:21 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.490s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:21 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:21 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:54:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:54:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:54:22 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
+05/13 22:54:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194270m	[env.py: 870]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37044654 -1.05043189 -0.19426969] yaw=-46.5deg	[env.py: 1019]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31730315 -0.8908064  -0.19426969] yaw=-24.5deg	[env.py: 1019]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80471598 -0.66344908 -0.19426969] yaw=-71.2deg	[env.py: 1019]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.0ms, total=82.1ms	[env.py: 1075]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.050, -0.194)	[env.py: 1079]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg	[env.py: 1082]
+05/13 22:54:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:22 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:23 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:54:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.172s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.627[m] 79.414[deg]	[grasp_sample.py: 539]
+05/13 22:54:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:54:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:54:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.15s (batch: 2.97s, save: 5.18s)	[pipeline.py: 300]
+05/13 22:54:31 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=1.52s:
+  episode_total: mean=13.28s, total=92.97s, count=7, min=1732.9ms, max=63029.5ms
+  sensor_polling: mean=147.2ms, total=42.97s, count=292, min=135.2ms, max=418.7ms
+  save_trajectories: mean=5.18s, total=5.18s, count=1, min=5181.5ms, max=5181.5ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2971.3ms, max=2971.3ms
+  physics_step: mean=9.6ms, total=2.80s, count=292, min=7.4ms, max=12.6ms
+  task_sampling: mean=217.4ms, total=1.52s, count=7, min=141.1ms, max=273.3ms
+  task_specific_sample: mean=215.0ms, total=1.51s, count=7, min=139.0ms, max=270.2ms
+  scene_randomize: mean=1.1ms, total=7.6ms, count=7, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=273.8us, total=1.9ms, count=7, min=0.2ms, max=0.4ms
+  policy_setup: mean=11.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:54:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172679m	[env.py: 870]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85226811 -0.90582182 -0.17267878] yaw=-92.6deg	[env.py: 1019]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15389095 -1.2939058  -0.17267878] yaw=-51.9deg	[env.py: 1019]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.8ms, total=128.8ms	[env.py: 1075]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.852, -0.906, -0.173)	[env.py: 1079]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.6 deg	[env.py: 1082]
+05/13 22:54:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:33 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:33 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.577[m] 90.769[deg]	[grasp_sample.py: 539]
+05/13 22:54:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:54:36 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:54:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:54:36 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:54:36 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 22:54:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:54:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:54:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:54:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.14s (batch: 3.79s, save: 5.34s)	[pipeline.py: 300]
+05/13 22:54:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:54:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:54:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.03s (batch: 4.29s, save: 4.74s)	[pipeline.py: 300]
+05/13 22:54:46 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.32s:
+  episode_total: mean=27.66s, total=138.32s, count=5, min=2639.8ms, max=77193.1ms
+  sensor_polling: mean=153.1ms, total=86.79s, count=567, min=132.1ms, max=450.0ms
+  physics_step: mean=9.9ms, total=5.64s, count=567, min=7.3ms, max=15.4ms
+  save_trajectories: mean=5.34s, total=5.34s, count=1, min=5344.8ms, max=5344.8ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3791.0ms, max=3791.0ms
+  task_sampling: mean=263.6ms, total=1.32s, count=5, min=199.2ms, max=308.6ms
+  task_specific_sample: mean=260.2ms, total=1.30s, count=5, min=195.1ms, max=305.9ms
+  scene_randomize: mean=1.2ms, total=6.1ms, count=5, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=280.3us, total=1.4ms, count=5, min=0.2ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:54:46 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.59s:
+  episode_total: mean=36.44s, total=72.88s, count=2, min=2080.8ms, max=70796.6ms
+  sensor_polling: mean=161.3ms, total=40.82s, count=253, min=142.5ms, max=368.1ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4741.4ms, max=4741.4ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4285.6ms, max=4285.6ms
+  physics_step: mean=10.1ms, total=2.54s, count=253, min=7.8ms, max=42.2ms
+  task_sampling: mean=294.6ms, total=589.1ms, count=2, min=206.5ms, max=382.7ms
+  task_specific_sample: mean=291.8ms, total=583.6ms, count=2, min=204.0ms, max=379.7ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.8ms, max=1.8ms
+  mj_forward_sync: mean=240.7us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:54:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155876m	[env.py: 870]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=128.3ms, total=128.4ms	[env.py: 1105]
+05/13 22:54:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:54:48 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:54:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154762m	[env.py: 870]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=104.4ms, total=104.4ms	[env.py: 1105]
+05/13 22:54:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:54:49 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:54:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103363m	[env.py: 870]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6658194  -0.89734692 -0.10336301] yaw=-57.0deg	[env.py: 1019]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.9ms, total=124.9ms	[env.py: 1075]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.666, -0.897, -0.103)	[env.py: 1079]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.0 deg	[env.py: 1082]
+05/13 22:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:50 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166577m	[env.py: 870]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=93.6ms, total=93.6ms	[env.py: 1105]
+05/13 22:54:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:54:51 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]
+05/13 22:54:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138561m	[env.py: 870]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=94.2ms, total=94.2ms	[env.py: 1105]
+05/13 22:54:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:54:54 ERROR: [Worker 0] Worker 0 house 1 episode 26 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:54:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.192s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:55 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.678[m] 84.484[deg]	[grasp_sample.py: 539]
+05/13 22:54:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151714m	[env.py: 870]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02730971 -1.28594021 -0.15171439] yaw=-37.0deg	[env.py: 1019]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55948851 -0.73595178 -0.15171439] yaw=-66.0deg	[env.py: 1019]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms	[env.py: 1075]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.027, -1.286, -0.152)	[env.py: 1079]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg	[env.py: 1082]
+05/13 22:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:57 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:58 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.572s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:58 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:55:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199934m	[env.py: 870]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00613135 -1.19818792 -0.19993415] yaw=-29.7deg	[env.py: 1019]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50203592 -0.88950293 -0.19993415] yaw=-63.0deg	[env.py: 1019]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.8ms	[env.py: 1075]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.006, -1.198, -0.200)	[env.py: 1079]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg	[env.py: 1082]
+05/13 22:55:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:01 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:03 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.451s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:55:03 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:55:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182106m	[env.py: 870]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66928203 -0.92521966 -0.18210595] yaw=-42.2deg	[env.py: 1019]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.6965458  -0.73190981 -0.18210595] yaw=-61.5deg	[env.py: 1019]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61477874 -1.00280741 -0.18210595] yaw=-57.1deg	[env.py: 1019]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=418.5ms, total=418.5ms	[env.py: 1075]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.669, -0.925, -0.182)	[env.py: 1079]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg	[env.py: 1082]
+05/13 22:55:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:05 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:06 INFO: [Worker 0] Feasibility-checked 236 grasps in 0.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.647[m] 72.656[deg]	[grasp_sample.py: 539]
+05/13 22:55:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:55:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:55:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:07 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:16 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:19 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:55:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:55:19 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 22:55:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:55:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:55:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.04s (batch: 3.40s, save: 4.64s)	[pipeline.py: 300]
+05/13 22:55:28 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=2.20s:
+  episode_total: mean=11.68s, total=81.75s, count=7, min=141.4ms, max=65656.3ms
+  sensor_polling: mean=149.6ms, total=38.76s, count=259, min=129.1ms, max=316.5ms
+  save_trajectories: mean=4.64s, total=4.64s, count=1, min=4635.1ms, max=4635.1ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3401.3ms, max=3401.3ms
+  physics_step: mean=9.6ms, total=2.49s, count=259, min=7.3ms, max=16.8ms
+  task_specific_sample: mean=331.3ms, total=2.32s, count=7, min=137.6ms, max=615.3ms
+  task_sampling: mean=366.1ms, total=2.20s, count=6, min=224.2ms, max=618.1ms
+  task_sampling_failed: mean=141.3ms, total=141.3ms, count=1, min=141.3ms, max=141.3ms
+  scene_randomize: mean=1.2ms, total=8.3ms, count=7, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=290.2us, total=2.0ms, count=7, min=0.2ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:55:28 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:55:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:55:28 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
+05/13 22:55:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128199m	[env.py: 870]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -89.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -136.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23109655 -1.11051197 -0.12819859] yaw=-56.0deg	[env.py: 1019]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=291.1ms, total=291.1ms	[env.py: 1075]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.111, -0.128)	[env.py: 1079]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg	[env.py: 1082]
+05/13 22:55:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 22:55:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:30 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:32 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.714[m] 92.265[deg]	[grasp_sample.py: 539]
+05/13 22:55:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:55:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:55:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:55:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:55:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.73s (batch: 2.90s, save: 4.82s)	[pipeline.py: 300]
+05/13 22:55:37 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=0.29s:
+  episode_total: mean=64.26s, total=64.26s, count=1, min=64261.3ms, max=64261.3ms
+  sensor_polling: mean=149.2ms, total=37.15s, count=249, min=132.8ms, max=441.8ms
+  save_trajectories: mean=4.82s, total=4.82s, count=1, min=4822.5ms, max=4822.5ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2903.4ms, max=2903.4ms
+  physics_step: mean=9.7ms, total=2.41s, count=249, min=8.6ms, max=15.4ms
+  task_sampling: mean=292.4ms, total=292.4ms, count=1, min=292.4ms, max=292.4ms
+  task_specific_sample: mean=289.9ms, total=289.9ms, count=1, min=289.9ms, max=289.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=241.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:55:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175379m	[env.py: 870]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23580849 -0.97128843 -0.17537867] yaw=-23.5deg	[env.py: 1019]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.2ms, total=271.2ms	[env.py: 1075]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -0.971, -0.175)	[env.py: 1079]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.5 deg	[env.py: 1082]
+05/13 22:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:39 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:40 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:40 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.522s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:55:40 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:55:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:42 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]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161927m	[env.py: 870]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41781879 -1.05655158 -0.16192667] yaw=-50.2deg	[env.py: 1019]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49245805 -0.95661595 -0.16192667] yaw=-44.2deg	[env.py: 1019]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.79018028 -0.8828007  -0.16192667] yaw=-88.3deg	[env.py: 1019]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.3ms, total=142.3ms	[env.py: 1075]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.057, -0.162)	[env.py: 1079]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg	[env.py: 1082]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:42 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.821s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.589[m] 87.550[deg]	[grasp_sample.py: 539]
+05/13 22:55:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:55:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:55:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:55:53 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:55:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:55:53 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 22:55:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:55 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:56:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.10s (batch: 3.36s, save: 4.74s)	[pipeline.py: 300]
+05/13 22:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:56:02 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.29s:
+  episode_total: mean=36.31s, total=72.62s, count=2, min=135.1ms, max=72482.8ms
+  sensor_polling: mean=151.9ms, total=41.18s, count=271, min=136.8ms, max=321.4ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4737.4ms, max=4737.4ms
+  save_batch_prep: mean=3.36s, total=3.36s, count=1, min=3358.5ms, max=3358.5ms
+  physics_step: mean=9.6ms, total=2.61s, count=271, min=7.6ms, max=16.7ms
+  task_specific_sample: mean=209.7ms, total=419.5ms, count=2, min=131.8ms, max=287.6ms
+  task_sampling: mean=290.1ms, total=290.1ms, count=1, min=290.1ms, max=290.1ms
+  task_sampling_failed: mean=135.1ms, total=135.1ms, count=1, min=135.1ms, max=135.1ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=239.0us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=18.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:56:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136045m	[env.py: 870]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.90989816 -0.90681409 -0.13604489] yaw=-79.8deg	[env.py: 1019]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.8ms, total=169.9ms	[env.py: 1075]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.910, -0.907, -0.136)	[env.py: 1079]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg	[env.py: 1082]
+05/13 22:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:04 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:05 INFO: [Worker 0] Feasibility-checked 247 grasps in 0.667s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.600[m] 94.087[deg]	[grasp_sample.py: 539]
+05/13 22:56:05 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189703m	[env.py: 870]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29027278 -0.99822415 -0.18970335] yaw=-54.0deg	[env.py: 1019]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.85034526 -0.85679555 -0.18970335] yaw=-102.8deg	[env.py: 1019]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30208605 -1.25064455 -0.18970335] yaw=-24.6deg	[env.py: 1019]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=69.6ms, total=69.6ms	[env.py: 1075]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.290, -0.998, -0.190)	[env.py: 1079]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg	[env.py: 1082]
+05/13 22:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:07 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:08 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:56:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:08 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:56:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:56:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.346s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:13 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.655[m] 90.198[deg]	[grasp_sample.py: 539]
+05/13 22:56:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:17 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:56:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.39s (batch: 4.67s, save: 4.72s)	[pipeline.py: 300]
+05/13 22:56:19 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=1.18s:
+  episode_total: mean=13.03s, total=78.17s, count=6, min=100.7ms, max=74002.4ms
+  sensor_polling: mean=168.6ms, total=44.51s, count=264, min=133.4ms, max=407.4ms
+  save_trajectories: mean=4.72s, total=4.72s, count=1, min=4718.5ms, max=4718.5ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4674.8ms, max=4674.8ms
+  physics_step: mean=10.5ms, total=2.76s, count=264, min=8.6ms, max=66.3ms
+  task_specific_sample: mean=245.6ms, total=1.47s, count=6, min=97.4ms, max=567.3ms
+  task_sampling: mean=391.9ms, total=1.18s, count=3, min=285.1ms, max=569.7ms
+  task_sampling_failed: mean=104.4ms, total=313.2ms, count=3, min=100.7ms, max=111.7ms
+  scene_randomize: mean=1.1ms, total=6.5ms, count=6, min=0.9ms, max=1.7ms
+  mj_forward_sync: mean=278.3us, total=1.7ms, count=6, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:56:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103156m	[env.py: 870]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.58974824 -0.72519943 -0.10315625] yaw=-96.5deg	[env.py: 1019]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -132.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=104.2ms, total=104.2ms	[env.py: 1075]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.590, -0.725, -0.103)	[env.py: 1079]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.5 deg	[env.py: 1082]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:22 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:23 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.527s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:23 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118099m	[env.py: 870]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32074464 -0.98446106 -0.11809896] yaw=-61.1deg	[env.py: 1019]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36399162 -1.13742977 -0.11809896] yaw=-55.9deg	[env.py: 1019]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49449497 -0.95088185 -0.11809896] yaw=-84.8deg	[env.py: 1019]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.6ms	[env.py: 1075]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -0.984, -0.118)	[env.py: 1079]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg	[env.py: 1082]
+05/13 22:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:26 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:28 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:56:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:30 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 22:56:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:31 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.737[m] 90.759[deg]	[grasp_sample.py: 539]
+05/13 22:56:31 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:34 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]
+05/13 22:56:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197504m	[env.py: 870]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81112261 -0.82731278 -0.19750404] yaw=-71.4deg	[env.py: 1019]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28768033 -1.25501717 -0.19750404] yaw=-22.9deg	[env.py: 1019]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74503012 -0.65197214 -0.19750404] yaw=-57.8deg	[env.py: 1019]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.2ms, total=92.2ms	[env.py: 1075]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.811, -0.827, -0.198)	[env.py: 1079]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg	[env.py: 1082]
+05/13 22:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:34 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:35 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.633[m] 95.672[deg]	[grasp_sample.py: 539]
+05/13 22:56:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:56:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:56:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:56:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.14s (batch: 3.17s, save: 4.97s)	[pipeline.py: 300]
+05/13 22:56:39 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.46s:
+  episode_total: mean=69.17s, total=69.17s, count=1, min=69166.3ms, max=69166.3ms
+  sensor_polling: mean=151.9ms, total=41.47s, count=273, min=137.4ms, max=326.9ms
+  save_trajectories: mean=4.97s, total=4.97s, count=1, min=4965.5ms, max=4965.5ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3171.9ms, max=3171.9ms
+  physics_step: mean=9.7ms, total=2.65s, count=273, min=7.4ms, max=18.0ms
+  task_sampling: mean=463.0ms, total=463.0ms, count=1, min=463.0ms, max=463.0ms
+  task_specific_sample: mean=460.6ms, total=460.6ms, count=1, min=460.6ms, max=460.6ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=245.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  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]
+05/13 22:56:40 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:56:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:40 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 22:56:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115730m	[env.py: 870]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51088301 -0.73586381 -0.11573018] yaw=-62.4deg	[env.py: 1019]
+05/13 22:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=519.3ms, total=519.3ms	[env.py: 1075]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.511, -0.736, -0.116)	[env.py: 1079]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.4 deg	[env.py: 1082]
+05/13 22:56:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/13 22:56:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:41 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.512s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:43 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144168m	[env.py: 870]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6238125  -0.84969261 -0.14416769] yaw=-69.3deg	[env.py: 1019]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46953302 -0.82389863 -0.14416769] yaw=-85.7deg	[env.py: 1019]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20402092 -1.43398253 -0.14416769] yaw=-20.8deg	[env.py: 1019]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.2ms, total=130.2ms	[env.py: 1075]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.850, -0.144)	[env.py: 1079]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg	[env.py: 1082]
+05/13 22:56:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 22:56:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:45 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.473s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.700[m] 88.237[deg]	[grasp_sample.py: 539]
+05/13 22:56:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:56:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.79s (batch: 3.30s, save: 4.49s)	[pipeline.py: 300]
+05/13 22:56:48 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.75s:
+  episode_total: mean=34.16s, total=68.32s, count=2, min=2087.0ms, max=66232.9ms
+  sensor_polling: mean=151.4ms, total=38.45s, count=254, min=134.6ms, max=463.6ms
+  save_trajectories: mean=4.49s, total=4.49s, count=1, min=4494.6ms, max=4494.6ms
+  save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3298.5ms, max=3298.5ms
+  physics_step: mean=9.8ms, total=2.49s, count=254, min=7.5ms, max=16.5ms
+  task_sampling: mean=373.6ms, total=747.3ms, count=2, min=290.3ms, max=457.0ms
+  task_specific_sample: mean=371.1ms, total=742.2ms, count=2, min=287.8ms, max=454.5ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=311.6us, total=0.6ms, count=2, min=0.2ms, max=0.4ms
+  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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:56:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:50 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]
+05/13 22:56:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156943m	[env.py: 870]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18134764 -1.35859967 -0.15694342] yaw=-5.4deg	[env.py: 1019]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=145.9ms, total=146.0ms	[env.py: 1075]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.359, -0.157)	[env.py: 1079]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -5.4 deg	[env.py: 1082]
+05/13 22:56:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:50 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:51 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]
+05/13 22:56:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:52 INFO: [Worker 0] Feasibility-checked 233 grasps in 1.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:52 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.630[m] 83.976[deg]	[grasp_sample.py: 539]
+05/13 22:56:53 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100684m	[env.py: 870]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.0ms, total=216.0ms	[env.py: 1105]
+05/13 22:56:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:56:55 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:56:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:56 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183690m	[env.py: 870]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35644392 -1.12339247 -0.18369016] yaw=-49.5deg	[env.py: 1019]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18648626 -1.36013222 -0.18369016] yaw=-51.5deg	[env.py: 1019]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.2ms, total=129.2ms	[env.py: 1075]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.123, -0.184)	[env.py: 1079]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg	[env.py: 1082]
+05/13 22:56:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:57 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:56:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.159s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:59 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.604[m] 93.409[deg]	[grasp_sample.py: 539]
+05/13 22:56:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:09 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:57:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:57:09 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:57:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:57:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:57:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:57:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.03s (batch: 3.32s, save: 4.71s)	[pipeline.py: 300]
+05/13 22:57:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:17 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.55s:
+  episode_total: mean=36.02s, total=72.04s, count=2, min=1672.6ms, max=70364.7ms
+  sensor_polling: mean=149.5ms, total=39.76s, count=266, min=134.6ms, max=328.2ms
+  save_trajectories: mean=4.71s, total=4.71s, count=1, min=4711.0ms, max=4711.0ms
+  save_batch_prep: mean=3.32s, total=3.32s, count=1, min=3319.4ms, max=3319.4ms
+  physics_step: mean=9.7ms, total=2.59s, count=266, min=7.7ms, max=33.6ms
+  task_sampling: mean=276.7ms, total=553.4ms, count=2, min=216.1ms, max=337.3ms
+  task_specific_sample: mean=274.2ms, total=548.4ms, count=2, min=213.8ms, max=334.5ms
+  scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=239.7us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:57:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189451m	[env.py: 870]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22573912 -1.16725531 -0.18945089] yaw=-37.7deg	[env.py: 1019]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59671033 -0.71174233 -0.18945089] yaw=-91.4deg	[env.py: 1019]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=290.4ms, total=290.4ms	[env.py: 1075]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.167, -0.189)	[env.py: 1079]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg	[env.py: 1082]
+05/13 22:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:20 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:20 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:57:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.075s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:57:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.645[m] 74.023[deg]	[grasp_sample.py: 539]
+05/13 22:57:22 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:57:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154097m	[env.py: 870]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54508136 -0.73344685 -0.1540968 ] yaw=-68.5deg	[env.py: 1019]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34572555 -1.12011399 -0.1540968 ] yaw=-60.6deg	[env.py: 1019]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=482.1ms, total=482.2ms	[env.py: 1075]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.545, -0.733, -0.154)	[env.py: 1079]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/13 22:57:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:24 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.704s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:57:26 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:57:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136453m	[env.py: 870]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.13691618 -1.32273309 -0.13645346] yaw=-48.2deg	[env.py: 1019]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16402566 -0.99329286 -0.13645346] yaw=-62.0deg	[env.py: 1019]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=123.9ms, total=123.9ms	[env.py: 1075]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.323, -0.136)	[env.py: 1079]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.2 deg	[env.py: 1082]
+05/13 22:57:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:28 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:32 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.666[m] 83.511[deg]	[grasp_sample.py: 539]
+05/13 22:57:32 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:57:34 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:57:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:57:34 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:57:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171031m	[env.py: 870]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.74400888 -0.68762213 -0.17103146] yaw=-53.2deg	[env.py: 1019]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.5ms, total=124.6ms	[env.py: 1075]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.744, -0.688, -0.171)	[env.py: 1079]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/13 22:57:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:34 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.464s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:57:36 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:57:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110186m	[env.py: 870]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08141949 -1.08635843 -0.11018632] yaw=-35.4deg	[env.py: 1019]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60362027 -0.92419497 -0.11018632] yaw=-59.1deg	[env.py: 1019]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.83414521 -0.92407691 -0.11018632] yaw=-59.7deg	[env.py: 1019]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.6ms, total=107.6ms	[env.py: 1075]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.081, -1.086, -0.110)	[env.py: 1079]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg	[env.py: 1082]
+05/13 22:57:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:38 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:39 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.454s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:57:39 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:57:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142791m	[env.py: 870]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.88486249 -0.78969464 -0.1427912 ] yaw=-113.1deg	[env.py: 1019]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18364019 -1.43268955 -0.1427912 ] yaw=-42.2deg	[env.py: 1019]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=121.9ms, total=121.9ms	[env.py: 1075]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.885, -0.790, -0.143)	[env.py: 1079]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.1 deg	[env.py: 1082]
+05/13 22:57:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:41 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:41 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:57:42 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.835s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:42 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.724[m] 89.578[deg]	[grasp_sample.py: 539]
+05/13 22:57:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:57:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:57:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.39s (batch: 4.47s, save: 4.92s)	[pipeline.py: 300]
+05/13 22:57:44 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.72s:
+  episode_total: mean=26.08s, total=78.25s, count=3, min=1914.4ms, max=70530.2ms
+  sensor_polling: mean=157.9ms, total=41.52s, count=263, min=136.2ms, max=463.4ms
+  save_trajectories: mean=4.92s, total=4.92s, count=1, min=4916.6ms, max=4916.6ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4470.1ms, max=4470.1ms
+  physics_step: mean=10.0ms, total=2.63s, count=263, min=8.6ms, max=14.7ms
+  task_sampling: mean=241.6ms, total=724.7ms, count=3, min=223.8ms, max=259.8ms
+  task_specific_sample: mean=238.6ms, total=715.8ms, count=3, min=220.7ms, max=256.6ms
+  scene_randomize: mean=1.4ms, total=4.1ms, count=3, min=1.1ms, max=1.7ms
+  mj_forward_sync: mean=312.9us, total=0.9ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:57:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:46 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]
+05/13 22:57:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186574m	[env.py: 870]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=94.2ms, total=94.3ms	[env.py: 1105]
+05/13 22:57:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:57:46 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]
+05/13 22:57:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173359m	[env.py: 870]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8366952  -0.875393   -0.17335945] yaw=-62.8deg	[env.py: 1019]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17208199 -1.26260342 -0.17335945] yaw=-17.0deg	[env.py: 1019]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.9ms	[env.py: 1075]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.837, -0.875, -0.173)	[env.py: 1079]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg	[env.py: 1082]
+05/13 22:57:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:49 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:50 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.653[m] 82.447[deg]	[grasp_sample.py: 539]
+05/13 22:57:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:53 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:57:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:57:53 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 22:57:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:57:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.805s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:55 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.568[m] 65.380[deg]	[grasp_sample.py: 539]
+05/13 22:57:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:01 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.826s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:01 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.568[m] 65.383[deg]	[grasp_sample.py: 539]
+05/13 22:58:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:58:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:58:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.16s (batch: 3.17s, save: 4.99s)	[pipeline.py: 300]
+05/13 22:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:02 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.60s:
+  episode_total: mean=22.84s, total=68.52s, count=3, min=224.2ms, max=65646.8ms
+  sensor_polling: mean=150.6ms, total=38.55s, count=256, min=136.4ms, max=526.0ms
+  save_trajectories: mean=4.99s, total=4.99s, count=1, min=4992.6ms, max=4992.6ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3168.8ms, max=3168.8ms
+  physics_step: mean=9.8ms, total=2.52s, count=256, min=7.5ms, max=15.0ms
+  task_specific_sample: mean=272.2ms, total=816.6ms, count=3, min=219.7ms, max=311.7ms
+  task_sampling: mean=300.8ms, total=601.5ms, count=2, min=287.3ms, max=314.3ms
+  task_sampling_failed: mean=224.2ms, total=224.2ms, count=1, min=224.2ms, max=224.2ms
+  scene_randomize: mean=1.1ms, total=3.2ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=285.3us, total=0.9ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=13.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139058m	[env.py: 870]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=286.2ms, total=286.2ms	[env.py: 1105]
+05/13 22:58:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:58:04 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164328m	[env.py: 870]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46590174 -0.85595145 -0.16432826] yaw=-72.5deg	[env.py: 1019]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14419909 -1.3205952  -0.16432826] yaw=-12.0deg	[env.py: 1019]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40262144 -0.96581811 -0.16432826] yaw=-47.3deg	[env.py: 1019]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.2ms, total=93.2ms	[env.py: 1075]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -0.856, -0.164)	[env.py: 1079]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg	[env.py: 1082]
+05/13 22:58:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:06 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.909s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:07 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.568[m] 65.383[deg]	[grasp_sample.py: 539]
+05/13 22:58:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:10 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.073s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.743[m] 90.761[deg]	[grasp_sample.py: 539]
+05/13 22:58:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:58:13 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:58:13 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=False episode_total=2.17s:
+  episode_total: mean=7.59s, total=45.52s, count=6, min=1795.8ms, max=31941.0ms
+  sensor_polling: mean=148.3ms, total=11.12s, count=75, min=137.9ms, max=326.4ms
+  task_sampling: mean=361.9ms, total=2.17s, count=6, min=256.6ms, max=660.7ms
+  task_specific_sample: mean=359.6ms, total=2.16s, count=6, min=254.7ms, max=658.2ms
+  physics_step: mean=8.1ms, total=610.1ms, count=75, min=6.2ms, max=10.9ms
+  scene_randomize: mean=1.1ms, total=6.5ms, count=6, min=0.8ms, max=2.6ms
+  mj_forward_sync: mean=240.1us, total=1.4ms, count=6, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:58:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190961m	[env.py: 870]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.50349857 -0.89045359 -0.19096146] yaw=-77.6deg	[env.py: 1019]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=130.1ms, total=130.2ms	[env.py: 1075]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -0.890, -0.191)	[env.py: 1079]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg	[env.py: 1082]
+05/13 22:58:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m	[env.py: 1086]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:14 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.234s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:19 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.717[m] 92.470[deg]	[grasp_sample.py: 539]
+05/13 22:58:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:24 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:58:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.077s, found 151 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:25 INFO: [Worker 0] Feasibility-checked 151 grasps in 0.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:25 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 0.934[deg]	[grasp_sample.py: 539]
+05/13 22:58:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:33 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:45 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.119[m] 9.249[deg]	[grasp_sample.py: 539]
+05/13 22:58:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:46 INFO: [Worker 0] Feasibility-checked 230 grasps in 85.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:46 INFO: [Worker 0] Feasible grasp found 578 (originally 271): w/ 0.071[m] 155.229[deg]	[grasp_sample.py: 539]
+05/13 22:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:47 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:58:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:48 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:48 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]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135944m	[env.py: 870]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.75964267 -0.71491184 -0.13594386] yaw=-106.8deg	[env.py: 1019]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=304.4ms, total=304.4ms	[env.py: 1075]
+05/13 22:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.760, -0.715, -0.136)	[env.py: 1079]
+05/13 22:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.8 deg	[env.py: 1082]
+05/13 22:58:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 22:58:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:49 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:50 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.510s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:58:50 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.037s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:52 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:52 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.115[m] 8.751[deg]	[grasp_sample.py: 539]
+05/13 22:58:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188622m	[env.py: 870]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91488028 -0.82306766 -0.1886223 ] yaw=-76.2deg	[env.py: 1019]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=162.9ms, total=163.0ms	[env.py: 1075]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.915, -0.823, -0.189)	[env.py: 1079]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg	[env.py: 1082]
+05/13 22:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m	[env.py: 1086]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:52 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:52 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]
+05/13 22:58:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.618[m] 92.109[deg]	[grasp_sample.py: 539]
+05/13 22:58:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:56 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:58:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:58:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:58:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:59 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.480s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:58:59 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.115[m] 8.750[deg]	[grasp_sample.py: 539]
+05/13 22:58:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:58:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:58:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:02 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:59:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:02 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:05 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:59:05 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:59:05 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=0.28s:
+  episode_total: mean=50.59s, total=50.59s, count=1, min=50594.7ms, max=50594.7ms
+  sensor_polling: mean=151.1ms, total=23.88s, count=158, min=140.6ms, max=253.0ms
+  physics_step: mean=9.0ms, total=1.41s, count=158, min=6.4ms, max=13.7ms
+  task_sampling: mean=284.4ms, total=284.4ms, count=1, min=284.4ms, max=284.4ms
+  task_specific_sample: mean=282.3ms, total=282.3ms, count=1, min=282.3ms, max=282.3ms
+  scene_randomize: mean=989.0us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=277.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:59:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:07 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]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167500m	[env.py: 870]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55130531 -0.85891038 -0.16750021] yaw=-39.2deg	[env.py: 1019]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19474302 -1.15346472 -0.16750021] yaw=-23.8deg	[env.py: 1019]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21558074 -1.02172443 -0.16750021] yaw=-38.7deg	[env.py: 1019]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.0ms, total=162.0ms	[env.py: 1075]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.551, -0.859, -0.168)	[env.py: 1079]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg	[env.py: 1082]
+05/13 22:59:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:07 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 22:59:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:08 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 22:59:09 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.759[m] 80.677[deg]	[grasp_sample.py: 539]
+05/13 22:59:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:59:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:59:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.47s (batch: 4.00s, save: 5.46s)	[pipeline.py: 300]
+05/13 22:59:13 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.30s:
+  episode_total: mean=42.01s, total=84.01s, count=2, min=102.2ms, max=83908.2ms
+  sensor_polling: mean=158.6ms, total=47.57s, count=300, min=137.7ms, max=392.0ms
+  save_trajectories: mean=5.46s, total=5.46s, count=1, min=5461.5ms, max=5461.5ms
+  save_batch_prep: mean=4.00s, total=4.00s, count=1, min=4003.9ms, max=4003.9ms
+  physics_step: mean=9.8ms, total=2.94s, count=300, min=7.5ms, max=17.0ms
+  task_specific_sample: mean=198.8ms, total=397.5ms, count=2, min=98.2ms, max=299.3ms
+  task_sampling: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
+  task_sampling_failed: mean=102.1ms, total=102.1ms, count=1, min=102.1ms, max=102.1ms
+  scene_randomize: mean=1.4ms, total=2.7ms, count=2, min=1.0ms, max=1.7ms
+  mj_forward_sync: mean=265.1us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.2us, 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]
+05/13 22:59:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152042m	[env.py: 870]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91453377 -0.68615258 -0.15204239] yaw=-97.7deg	[env.py: 1019]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71785428 -0.85670067 -0.15204239] yaw=-81.4deg	[env.py: 1019]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46773356 -1.05394433 -0.15204239] yaw=-28.5deg	[env.py: 1019]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=55.5ms, total=55.5ms	[env.py: 1075]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.915, -0.686, -0.152)	[env.py: 1079]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.7 deg	[env.py: 1082]
+05/13 22:59:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:15 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 22:59:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.87s (batch: 2.84s, save: 5.04s)	[pipeline.py: 300]
+05/13 22:59:16 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.27s:
+  episode_total: mean=35.20s, total=70.40s, count=2, min=294.2ms, max=70105.0ms
+  sensor_polling: mean=151.2ms, total=42.03s, count=278, min=136.4ms, max=452.8ms
+  save_trajectories: mean=5.04s, total=5.04s, count=1, min=5039.4ms, max=5039.4ms
+  save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2835.4ms, max=2835.4ms
+  physics_step: mean=9.8ms, total=2.71s, count=278, min=7.5ms, max=27.1ms
+  task_specific_sample: mean=276.7ms, total=553.4ms, count=2, min=263.1ms, max=290.3ms
+  task_sampling_failed: mean=294.1ms, total=294.1ms, count=1, min=294.1ms, max=294.1ms
+  task_sampling: mean=265.4ms, total=265.4ms, count=1, min=265.4ms, max=265.4ms
+  scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=281.5us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:59:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:59:17 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.511s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:59:17 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:59:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188533m	[env.py: 870]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85230334 -0.89754106 -0.18853329] yaw=-66.5deg	[env.py: 1019]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=90.5ms, total=90.5ms	[env.py: 1075]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.852, -0.898, -0.189)	[env.py: 1079]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg	[env.py: 1082]
+05/13 22:59:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:18 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117589m	[env.py: 870]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.589[m] 93.162[deg]	[grasp_sample.py: 539]
+05/13 22:59:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=117.2ms, total=117.2ms	[env.py: 1105]
+05/13 22:59:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:59:19 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]
+05/13 22:59:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:20 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:59:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:20 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]
+05/13 22:59:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.065s, found 201 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:21 INFO: [Worker 0] Feasibility-checked 201 grasps in 0.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:21 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 0.669[deg]	[grasp_sample.py: 539]
+05/13 22:59:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:21 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]
+05/13 22:59:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140920m	[env.py: 870]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79460656 -0.7972008  -0.14091983] yaw=-80.0deg	[env.py: 1019]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90132664 -0.72154087 -0.14091983] yaw=-73.3deg	[env.py: 1019]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69002257 -0.89763086 -0.14091983] yaw=-58.1deg	[env.py: 1019]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.3ms, total=199.3ms	[env.py: 1075]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.795, -0.797, -0.141)	[env.py: 1079]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.0 deg	[env.py: 1082]
+05/13 22:59:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:22 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:23 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.721[m] 98.596[deg]	[grasp_sample.py: 539]
+05/13 22:59:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.999s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:31 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.442[m] 64.338[deg]	[grasp_sample.py: 539]
+05/13 22:59:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.437[m] 63.529[deg]	[grasp_sample.py: 539]
+05/13 22:59:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.437[m] 63.530[deg]	[grasp_sample.py: 539]
+05/13 22:59:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:59:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.084s, found 151 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:47 INFO: [Worker 0] Feasibility-checked 151 grasps in 0.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:47 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.028[m] 1.758[deg]	[grasp_sample.py: 539]
+05/13 22:59:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:48 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:59:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:59:49 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:59:50 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:59:50 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=False episode_total=0.22s:
+  episode_total: mean=31.78s, total=31.78s, count=1, min=31781.5ms, max=31781.5ms
+  sensor_polling: mean=149.3ms, total=10.90s, count=73, min=134.9ms, max=213.5ms
+  physics_step: mean=8.8ms, total=640.1ms, count=73, min=6.7ms, max=19.0ms
+  task_sampling: mean=222.4ms, total=222.4ms, count=1, min=222.4ms, max=222.4ms
+  task_specific_sample: mean=219.8ms, total=219.8ms, count=1, min=219.8ms, max=219.8ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=252.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=12.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:59:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107804m	[env.py: 870]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.83396635 -0.89308245 -0.10780356] yaw=-65.3deg	[env.py: 1019]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33623682 -0.96365749 -0.10780356] yaw=-59.9deg	[env.py: 1019]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.9ms, total=234.9ms	[env.py: 1075]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.834, -0.893, -0.108)	[env.py: 1079]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg	[env.py: 1082]
+05/13 22:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:50 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.675[m] 93.823[deg]	[grasp_sample.py: 539]
+05/13 22:59:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:59:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192790m	[env.py: 870]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46458859 -0.95329206 -0.19278968] yaw=-77.8deg	[env.py: 1019]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79386119 -0.65349783 -0.19278968] yaw=-110.0deg	[env.py: 1019]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.817317   -0.65323851 -0.19278968] yaw=-70.5deg	[env.py: 1019]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.0ms, total=196.1ms	[env.py: 1075]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.953, -0.193)	[env.py: 1079]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.8 deg	[env.py: 1082]
+05/13 22:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/13 22:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:52 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:54 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:54 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.672[m] 97.415[deg]	[grasp_sample.py: 539]
+05/13 22:59:54 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:59:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173487m	[env.py: 870]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84525055 -0.92329442 -0.17348692] yaw=-101.7deg	[env.py: 1019]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.77175568 -0.90853974 -0.17348692] yaw=-60.5deg	[env.py: 1019]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.8ms	[env.py: 1075]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.845, -0.923, -0.173)	[env.py: 1079]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.7 deg	[env.py: 1082]
+05/13 22:59:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:56 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:57 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.570[m] 98.509[deg]	[grasp_sample.py: 539]
+05/13 22:59:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:02 INFO: [Worker 0] Feasibility-checked 242 grasps in 23.342s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:02 INFO: [Worker 0] Feasible grasp found 270 (originally 270): w/ 0.079[m] 19.424[deg]	[grasp_sample.py: 539]
+05/13 23:00:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.296s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.543[m] 70.647[deg]	[grasp_sample.py: 539]
+05/13 23:00:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:09 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:09 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.451[m] 71.781[deg]	[grasp_sample.py: 539]
+05/13 23:00:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.285s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.540[m] 69.946[deg]	[grasp_sample.py: 539]
+05/13 23:00:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 163 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:12 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:15 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.754s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:15 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.451[m] 71.783[deg]	[grasp_sample.py: 539]
+05/13 23:00:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.292s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:16 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.540[m] 69.946[deg]	[grasp_sample.py: 539]
+05/13 23:00:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:22 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:22 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.451[m] 71.783[deg]	[grasp_sample.py: 539]
+05/13 23:00:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:22 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:00:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:22 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:00:22 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=False episode_total=2.18s:
+  episode_total: mean=42.92s, total=214.62s, count=5, min=2091.8ms, max=122148.9ms
+  sensor_polling: mean=149.8ms, total=78.96s, count=527, min=134.2ms, max=421.5ms
+  physics_step: mean=9.4ms, total=4.97s, count=527, min=6.3ms, max=14.3ms
+  task_sampling: mean=435.1ms, total=2.18s, count=5, min=271.4ms, max=714.0ms
+  task_specific_sample: mean=432.8ms, total=2.16s, count=5, min=269.2ms, max=711.3ms
+  scene_randomize: mean=1.0ms, total=5.1ms, count=5, min=0.7ms, max=1.6ms
+  mj_forward_sync: mean=242.2us, total=1.2ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:00:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178118m	[env.py: 870]
+05/13 23:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16690408 -1.23283784 -0.17811774] yaw=-27.9deg	[env.py: 1019]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23415774 -1.12426537 -0.17811774] yaw=-53.3deg	[env.py: 1019]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.2ms	[env.py: 1075]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.167, -1.233, -0.178)	[env.py: 1079]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.9 deg	[env.py: 1082]
+05/13 23:00:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 23:00:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:24 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.065s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:25 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.166s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:25 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.658[m] 82.597[deg]	[grasp_sample.py: 539]
+05/13 23:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:26 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:26 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:00:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:00:26 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/13 23:00:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:00:27 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:00:27 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.64s:
+  episode_total: mean=16.89s, total=33.77s, count=2, min=2850.8ms, max=30920.6ms
+  sensor_polling: mean=152.6ms, total=10.22s, count=67, min=136.5ms, max=232.8ms
+  task_sampling: mean=319.7ms, total=639.5ms, count=2, min=285.6ms, max=353.9ms
+  task_specific_sample: mean=317.1ms, total=634.1ms, count=2, min=283.0ms, max=351.2ms
+  physics_step: mean=8.7ms, total=583.3ms, count=67, min=6.2ms, max=19.3ms
+  scene_randomize: mean=839.7us, total=1.7ms, count=2, min=0.8ms, max=0.9ms
+  mj_forward_sync: mean=260.9us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:00:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122447m	[env.py: 870]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05603967 -1.13883409 -0.12244701] yaw=-14.0deg	[env.py: 1019]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65909423 -0.88846501 -0.12244701] yaw=-62.8deg	[env.py: 1019]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31960166 -1.15107252 -0.12244701] yaw=-60.7deg	[env.py: 1019]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=264.3ms, total=264.3ms	[env.py: 1075]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.056, -1.139, -0.122)	[env.py: 1079]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.0 deg	[env.py: 1082]
+05/13 23:00:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:28 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134459m	[env.py: 870]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35501845 -1.04964476 -0.13445943] yaw=-23.1deg	[env.py: 1019]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.89170356 -0.70452879 -0.13445943] yaw=-96.2deg	[env.py: 1019]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24405396 -0.93305053 -0.13445943] yaw=-60.2deg	[env.py: 1019]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.2ms, total=135.2ms	[env.py: 1075]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -1.050, -0.134)	[env.py: 1079]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.1 deg	[env.py: 1082]
+05/13 23:00:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:29 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:29 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.453s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:29 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195194m	[env.py: 870]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0174616  -1.35604976 -0.19519408] yaw=0.0deg	[env.py: 1019]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.36659663 -0.91842618 -0.19519408] yaw=-28.6deg	[env.py: 1019]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24120992 -0.89136237 -0.19519408] yaw=-31.6deg	[env.py: 1019]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.7ms, total=72.7ms	[env.py: 1075]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.017, -1.356, -0.195)	[env.py: 1079]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.0 deg	[env.py: 1082]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:31 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.110s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:31 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.708[m] 86.262[deg]	[grasp_sample.py: 539]
+05/13 23:00:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:31 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 224 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:33 INFO: [Worker 0] Feasibility-checked 224 grasps in 1.528s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:33 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:00:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:00:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.08s (batch: 4.11s, save: 4.97s)	[pipeline.py: 300]
+05/13 23:00:36 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=0.54s:
+  episode_total: mean=25.53s, total=76.59s, count=3, min=125.2ms, max=74660.9ms
+  sensor_polling: mean=156.9ms, total=44.08s, count=281, min=140.6ms, max=387.0ms
+  save_trajectories: mean=4.97s, total=4.97s, count=1, min=4971.2ms, max=4971.2ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4108.9ms, max=4108.9ms
+  physics_step: mean=10.0ms, total=2.81s, count=281, min=7.6ms, max=45.8ms
+  task_specific_sample: mean=217.5ms, total=652.6ms, count=3, min=121.1ms, max=342.0ms
+  task_sampling: mean=268.0ms, total=536.0ms, count=2, min=192.3ms, max=343.8ms
+  task_sampling_failed: mean=125.2ms, total=125.2ms, count=1, min=125.2ms, max=125.2ms
+  scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=253.0us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=22.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:00:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133158m	[env.py: 870]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38387885 -1.13753948 -0.13315765] yaw=-30.2deg	[env.py: 1019]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8104062  -0.8530295  -0.13315765] yaw=-76.7deg	[env.py: 1019]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07337013 -1.37831703 -0.13315765] yaw=-8.3deg	[env.py: 1019]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=67.0ms, total=67.0ms	[env.py: 1075]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.138, -0.133)	[env.py: 1079]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.2 deg	[env.py: 1082]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:37 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:37 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]
+05/13 23:00:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140113m	[env.py: 870]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60717369 -0.95453862 -0.140113  ] yaw=-69.0deg	[env.py: 1019]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms	[env.py: 1075]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.955, -0.140)	[env.py: 1079]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg	[env.py: 1082]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:38 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:38 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.637[m] 88.486[deg]	[grasp_sample.py: 539]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:39 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.651s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.656[m] 97.095[deg]	[grasp_sample.py: 539]
+05/13 23:00:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:07 INFO: [Worker 0] Feasibility-checked 163 grasps in 55.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:07 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:01:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194361m	[env.py: 870]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4074157  -0.87324237 -0.19436075] yaw=-36.6deg	[env.py: 1019]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21977888 -1.29461907 -0.19436075] yaw=-16.0deg	[env.py: 1019]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.45688586 -0.98490482 -0.19436075] yaw=-68.2deg	[env.py: 1019]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.1ms, total=162.1ms	[env.py: 1075]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -0.873, -0.194)	[env.py: 1079]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg	[env.py: 1082]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:10 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:10 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]
+05/13 23:01:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:10 INFO: [Worker 0] Object is not in grasp! 0.00127 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:01:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:01:10 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]
+05/13 23:01:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.075s, found 73 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:11 INFO: [Worker 0] Feasibility-checked 73 grasps in 0.355s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:11 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 1.632[deg]	[grasp_sample.py: 539]
+05/13 23:01:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.752s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:14 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.730[m] 81.724[deg]	[grasp_sample.py: 539]
+05/13 23:01:15 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:17 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]
+05/13 23:01:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:17 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]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102914m	[env.py: 870]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05798798 -1.30646877 -0.10291358] yaw=-50.4deg	[env.py: 1019]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29823783 -1.02201161 -0.10291358] yaw=-75.4deg	[env.py: 1019]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02921169 -1.35017797 -0.10291358] yaw=-21.5deg	[env.py: 1019]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.5ms, total=111.6ms	[env.py: 1075]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.058, -1.306, -0.103)	[env.py: 1079]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg	[env.py: 1082]
+05/13 23:01:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:17 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.485s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:01:18 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:01:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184624m	[env.py: 870]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17346311 -1.22603614 -0.18462401] yaw=-39.1deg	[env.py: 1019]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03446253 -1.31948677 -0.18462401] yaw=-20.5deg	[env.py: 1019]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=164.2ms, total=164.2ms	[env.py: 1075]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.226, -0.185)	[env.py: 1079]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg	[env.py: 1082]
+05/13 23:01:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m	[env.py: 1086]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:21 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:22 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.222s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:22 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.644[m] 88.099[deg]	[grasp_sample.py: 539]
+05/13 23:01:22 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:22 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195739m	[env.py: 870]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34505467 -1.16410842 -0.19573869] yaw=-53.2deg	[env.py: 1019]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31190174 -0.85068921 -0.19573869] yaw=-81.8deg	[env.py: 1019]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.8ms, total=124.9ms	[env.py: 1075]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -1.164, -0.196)	[env.py: 1079]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/13 23:01:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m	[env.py: 1086]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:24 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:26 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:26 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.558[m] 95.224[deg]	[grasp_sample.py: 539]
+05/13 23:01:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:31 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:35 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:01:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:01:35 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:01:39 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:01:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:01:39 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:01:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:01:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:01:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.18s (batch: 3.34s, save: 4.85s)	[pipeline.py: 300]
+05/13 23:01:44 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.18s:
+  episode_total: mean=18.35s, total=73.41s, count=4, min=1831.3ms, max=67399.4ms
+  sensor_polling: mean=149.2ms, total=39.69s, count=266, min=136.9ms, max=402.5ms
+  save_trajectories: mean=4.85s, total=4.85s, count=1, min=4846.9ms, max=4846.9ms
+  save_batch_prep: mean=3.34s, total=3.34s, count=1, min=3336.9ms, max=3336.9ms
+  physics_step: mean=9.6ms, total=2.54s, count=266, min=7.8ms, max=16.8ms
+  task_sampling: mean=293.9ms, total=1.18s, count=4, min=191.2ms, max=429.1ms
+  task_specific_sample: mean=291.3ms, total=1.17s, count=4, min=187.6ms, max=427.3ms
+  scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.6ms, max=2.0ms
+  mj_forward_sync: mean=262.4us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  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=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:01:46 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:01:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:01:46 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:01:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125917m	[env.py: 870]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=142.8ms, total=142.8ms	[env.py: 1105]
+05/13 23:01:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:01:46 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:01:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153639m	[env.py: 870]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25903205 -1.19187908 -0.15363909] yaw=-50.6deg	[env.py: 1019]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=135.4ms, total=135.4ms	[env.py: 1075]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -1.192, -0.154)	[env.py: 1079]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg	[env.py: 1082]
+05/13 23:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:01:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:01:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.64s (batch: 3.78s, save: 4.86s)	[pipeline.py: 300]
+05/13 23:01:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:48 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:48 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=0.41s:
+  episode_total: mean=70.29s, total=70.29s, count=1, min=70293.4ms, max=70293.4ms
+  sensor_polling: mean=156.3ms, total=41.27s, count=264, min=143.1ms, max=411.2ms
+  save_trajectories: mean=4.86s, total=4.86s, count=1, min=4856.0ms, max=4856.0ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3779.3ms, max=3779.3ms
+  physics_step: mean=9.7ms, total=2.56s, count=264, min=7.9ms, max=15.7ms
+  task_sampling: mean=409.9ms, total=409.9ms, count=1, min=409.9ms, max=409.9ms
+  task_specific_sample: mean=407.2ms, total=407.2ms, count=1, min=407.2ms, max=407.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=281.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=24.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:01:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.277s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:50 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.651[m] 80.915[deg]	[grasp_sample.py: 539]
+05/13 23:01:51 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:51 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]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166896m	[env.py: 870]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50845633 -1.00351793 -0.16689633] yaw=-57.2deg	[env.py: 1019]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36177881 -1.1451301  -0.16689633] yaw=-68.8deg	[env.py: 1019]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43623504 -1.01045441 -0.16689633] yaw=-67.6deg	[env.py: 1019]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.6ms, total=85.6ms	[env.py: 1075]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.508, -1.004, -0.167)	[env.py: 1079]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg	[env.py: 1082]
+05/13 23:01:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:51 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.676s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:52 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.578[m] 90.167[deg]	[grasp_sample.py: 539]
+05/13 23:01:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187042m	[env.py: 870]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14282197 -1.23272497 -0.18704166] yaw=-15.1deg	[env.py: 1019]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.8ms, total=125.8ms	[env.py: 1075]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.233, -0.187)	[env.py: 1079]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.1 deg	[env.py: 1082]
+05/13 23:01:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m	[env.py: 1086]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:53 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:01:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:01:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.58s (batch: 3.21s, save: 5.37s)	[pipeline.py: 300]
+05/13 23:01:55 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.124s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:55 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.693[m] 77.016[deg]	[grasp_sample.py: 539]
+05/13 23:01:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:55 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=0.30s:
+  episode_total: mean=86.18s, total=86.18s, count=1, min=86183.6ms, max=86183.6ms
+  sensor_polling: mean=183.0ms, total=54.90s, count=300, min=137.6ms, max=476.8ms
+  save_trajectories: mean=5.37s, total=5.37s, count=1, min=5368.8ms, max=5368.8ms
+  physics_step: mean=11.1ms, total=3.33s, count=300, min=8.1ms, max=28.0ms
+  save_batch_prep: mean=3.21s, total=3.21s, count=1, min=3209.3ms, max=3209.3ms
+  task_sampling: mean=301.8ms, total=301.8ms, count=1, min=301.8ms, max=301.8ms
+  task_specific_sample: mean=299.7ms, total=299.7ms, count=1, min=299.7ms, max=299.7ms
+  scene_randomize: mean=956.0us, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=288.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=11.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:01:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:01:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156270m	[env.py: 870]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63984814 -0.97827713 -0.15627038] yaw=-44.5deg	[env.py: 1019]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14787964 -1.09653119 -0.15627038] yaw=-13.5deg	[env.py: 1019]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40575126 -0.92618133 -0.15627038] yaw=-74.2deg	[env.py: 1019]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=57.7ms, total=57.7ms	[env.py: 1075]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.640, -0.978, -0.156)	[env.py: 1079]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/13 23:01:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:57 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.620[m] 79.613[deg]	[grasp_sample.py: 539]
+05/13 23:01:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:06 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:02:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:02:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:18 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:02:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:18 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/13 23:02:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:02:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:02:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:02:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:02:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.28s (batch: 2.96s, save: 4.33s)	[pipeline.py: 300]
+05/13 23:02:25 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.61s:
+  episode_total: mean=38.40s, total=192.02s, count=5, min=1905.4ms, max=120832.0ms
+  sensor_polling: mean=149.3ms, total=62.87s, count=421, min=132.7ms, max=426.0ms
+  save_trajectories: mean=4.33s, total=4.33s, count=1, min=4327.7ms, max=4327.7ms
+  physics_step: mean=9.5ms, total=4.01s, count=421, min=7.2ms, max=15.5ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2956.2ms, max=2956.2ms
+  task_sampling: mean=321.4ms, total=1.61s, count=5, min=263.6ms, max=387.3ms
+  task_specific_sample: mean=318.8ms, total=1.59s, count=5, min=261.7ms, max=384.7ms
+  scene_randomize: mean=996.5us, total=5.0ms, count=5, min=0.8ms, max=1.3ms
+  mj_forward_sync: mean=251.1us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:02:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:02:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150305m	[env.py: 870]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -31.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28943443 -1.24936317 -0.15030465] yaw=-43.7deg	[env.py: 1019]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.75384385 -0.79029499 -0.15030465] yaw=-98.7deg	[env.py: 1019]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:02:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=404.6ms, total=404.6ms	[env.py: 1075]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.249, -0.150)	[env.py: 1079]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/13 23:02:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:02:28 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:02:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:02:28 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]
+05/13 23:02:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:02:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.273s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:02:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.626[m] 81.984[deg]	[grasp_sample.py: 539]
+05/13 23:02:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:02:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:02:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:38 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:02:39 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:02:43 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:02:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:50 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:02:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:50 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 23:02:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:02:53 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:02:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:53 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 23:02:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:55 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:02:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:55 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:02:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:02:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:02:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.29s (batch: 3.80s, save: 4.48s)	[pipeline.py: 300]
+05/13 23:02:59 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=0.25s:
+  episode_total: mean=68.54s, total=68.54s, count=1, min=68538.3ms, max=68538.3ms
+  sensor_polling: mean=161.3ms, total=40.33s, count=250, min=136.8ms, max=383.4ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4481.8ms, max=4481.8ms
+  save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3803.1ms, max=3803.1ms
+  physics_step: mean=10.1ms, total=2.54s, count=250, min=7.4ms, max=12.7ms
+  task_sampling: mean=249.8ms, total=249.8ms, count=1, min=249.8ms, max=249.8ms
+  task_specific_sample: mean=247.2ms, total=247.2ms, count=1, min=247.2ms, max=247.2ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=239.9us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=20.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:03:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:03:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:03:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.92s (batch: 3.19s, save: 4.73s)	[pipeline.py: 300]
+05/13 23:03:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:03:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177895m	[env.py: 870]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5412338  -0.98282809 -0.17789533] yaw=-51.0deg	[env.py: 1019]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25909085 -1.22503256 -0.17789533] yaw=-7.7deg	[env.py: 1019]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.71222646 -0.80749821 -0.17789533] yaw=-48.8deg	[env.py: 1019]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=56.4ms, total=56.4ms	[env.py: 1075]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.983, -0.178)	[env.py: 1079]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.0 deg	[env.py: 1082]
+05/13 23:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:01 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:02 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.57s:
+  episode_total: mean=24.26s, total=72.79s, count=3, min=150.4ms, max=69445.4ms
+  sensor_polling: mean=148.7ms, total=40.74s, count=274, min=135.0ms, max=408.7ms
+  save_trajectories: mean=4.73s, total=4.73s, count=1, min=4728.4ms, max=4728.4ms
+  save_batch_prep: mean=3.19s, total=3.19s, count=1, min=3186.9ms, max=3186.9ms
+  physics_step: mean=9.8ms, total=2.68s, count=274, min=7.8ms, max=15.8ms
+  task_specific_sample: mean=236.5ms, total=709.5ms, count=3, min=146.2ms, max=296.6ms
+  task_sampling: mean=283.8ms, total=567.6ms, count=2, min=268.6ms, max=299.0ms
+  task_sampling_failed: mean=150.4ms, total=150.4ms, count=1, min=150.4ms, max=150.4ms
+  scene_randomize: mean=991.7us, total=3.0ms, count=3, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=242.1us, total=0.7ms, count=3, min=0.2ms, max=0.3ms
+  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]
+05/13 23:03:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.608[m] 81.756[deg]	[grasp_sample.py: 539]
+05/13 23:03:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:03:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:03:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.83s (batch: 2.99s, save: 4.84s)	[pipeline.py: 300]
+05/13 23:03:03 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.20s:
+  episode_total: mean=66.63s, total=66.63s, count=1, min=66630.0ms, max=66630.0ms
+  sensor_polling: mean=156.1ms, total=40.58s, count=260, min=140.9ms, max=394.8ms
+  save_trajectories: mean=4.84s, total=4.84s, count=1, min=4841.0ms, max=4841.0ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2989.5ms, max=2989.5ms
+  physics_step: mean=9.9ms, total=2.58s, count=260, min=7.5ms, max=13.4ms
+  task_sampling: mean=195.1ms, total=195.1ms, count=1, min=195.1ms, max=195.1ms
+  task_specific_sample: mean=192.6ms, total=192.6ms, count=1, min=192.6ms, max=192.6ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=265.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=18.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:03:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:03:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129080m	[env.py: 870]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16201701 -1.16089747 -0.12907997] yaw=-59.7deg	[env.py: 1019]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=143.6ms, total=143.6ms	[env.py: 1075]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.162, -1.161, -0.129)	[env.py: 1079]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg	[env.py: 1082]
+05/13 23:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:04 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160308m	[env.py: 870]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87686226 -0.77948223 -0.16030805] yaw=-96.4deg	[env.py: 1019]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.07514141 -1.12500503 -0.16030805] yaw=-10.4deg	[env.py: 1019]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.5ms, total=214.5ms	[env.py: 1075]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.877, -0.779, -0.160)	[env.py: 1079]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.4 deg	[env.py: 1082]
+05/13 23:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:05 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.142s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:06 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.722[m] 81.525[deg]	[grasp_sample.py: 539]
+05/13 23:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:06 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:06 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.694[m] 102.011[deg]	[grasp_sample.py: 539]
+05/13 23:03:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:03:13 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:03:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:20 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.536[m] 72.897[deg]	[grasp_sample.py: 539]
+05/13 23:03:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:03:27 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:03:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:03:27 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:03:27 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.672s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:27 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.536[m] 72.899[deg]	[grasp_sample.py: 539]
+05/13 23:03:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:03:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:03:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:34 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:34 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.536[m] 72.899[deg]	[grasp_sample.py: 539]
+05/13 23:03:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:03:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:03:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.17s (batch: 3.41s, save: 4.76s)	[pipeline.py: 300]
+05/13 23:03:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:36 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.61s:
+  episode_total: mean=68.60s, total=68.60s, count=1, min=68604.0ms, max=68604.0ms
+  sensor_polling: mean=149.6ms, total=38.91s, count=260, min=131.9ms, max=426.1ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4755.6ms, max=4755.6ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3414.0ms, max=3414.0ms
+  physics_step: mean=9.8ms, total=2.55s, count=260, min=7.7ms, max=15.6ms
+  task_sampling: mean=607.0ms, total=607.0ms, count=1, min=607.0ms, max=607.0ms
+  task_specific_sample: mean=604.5ms, total=604.5ms, count=1, min=604.5ms, max=604.5ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=240.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  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]
+05/13 23:03:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:37 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]
+05/13 23:03:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154455m	[env.py: 870]
+05/13 23:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40277048 -1.09553319 -0.15445476] yaw=-33.3deg	[env.py: 1019]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40914258 -1.07237692 -0.15445476] yaw=-69.3deg	[env.py: 1019]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.06759157 -1.29638732 -0.15445476] yaw=-20.9deg	[env.py: 1019]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.5ms	[env.py: 1075]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.096, -0.154)	[env.py: 1079]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg	[env.py: 1082]
+05/13 23:03:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:38 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.739s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.623[m] 86.095[deg]	[grasp_sample.py: 539]
+05/13 23:03:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:39 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:03:40 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:03:40 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.41s:
+  episode_total: mean=34.62s, total=34.62s, count=1, min=34621.6ms, max=34621.6ms
+  sensor_polling: mean=145.2ms, total=11.04s, count=76, min=130.0ms, max=318.6ms
+  physics_step: mean=8.2ms, total=620.5ms, count=76, min=6.2ms, max=12.6ms
+  task_sampling: mean=409.3ms, total=409.3ms, count=1, min=409.3ms, max=409.3ms
+  task_specific_sample: mean=406.5ms, total=406.5ms, count=1, min=406.5ms, max=406.5ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=332.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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]
+05/13 23:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136936m	[env.py: 870]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61341628 -0.9566281  -0.13693597] yaw=-81.8deg	[env.py: 1019]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1885314  -1.31816122 -0.13693597] yaw=-50.4deg	[env.py: 1019]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.4ms, total=198.4ms	[env.py: 1075]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.957, -0.137)	[env.py: 1079]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.8 deg	[env.py: 1082]
+05/13 23:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m	[env.py: 1086]
+05/13 23:03:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:42 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:43 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:43 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.639[m] 90.728[deg]	[grasp_sample.py: 539]
+05/13 23:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:03:47 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:52 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:03:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.049s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:55 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.852s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:55 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.501[m] 66.312[deg]	[grasp_sample.py: 539]
+05/13 23:03:56 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:03:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:03:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174097m	[env.py: 870]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24890622 -1.06347636 -0.17409738] yaw=-19.6deg	[env.py: 1019]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29561423 -0.99895736 -0.17409738] yaw=-52.7deg	[env.py: 1019]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.7ms	[env.py: 1075]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.063, -0.174)	[env.py: 1079]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.6 deg	[env.py: 1082]
+05/13 23:03:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:58 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:59 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:03:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:03:59 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 23:03:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:00 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.120s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:00 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.725[m] 82.165[deg]	[grasp_sample.py: 539]
+05/13 23:04:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:04:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:06 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:04:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:04:06 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/13 23:04:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:04:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.65s (batch: 3.91s, save: 4.74s)	[pipeline.py: 300]
+05/13 23:04:09 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.19s:
+  episode_total: mean=67.78s, total=67.78s, count=1, min=67777.5ms, max=67777.5ms
+  sensor_polling: mean=155.2ms, total=39.74s, count=256, min=132.9ms, max=389.5ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4744.3ms, max=4744.3ms
+  save_batch_prep: mean=3.91s, total=3.91s, count=1, min=3910.5ms, max=3910.5ms
+  physics_step: mean=9.7ms, total=2.48s, count=256, min=7.5ms, max=15.5ms
+  task_sampling: mean=193.5ms, total=193.5ms, count=1, min=193.5ms, max=193.5ms
+  task_specific_sample: mean=190.9ms, total=190.9ms, count=1, min=190.9ms, max=190.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=244.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=29.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:04:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:11 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]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196725m	[env.py: 870]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.02824997 -1.24012057 -0.19672489] yaw=-15.3deg	[env.py: 1019]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=101.7ms, total=101.7ms	[env.py: 1075]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -1.240, -0.197)	[env.py: 1079]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.3 deg	[env.py: 1082]
+05/13 23:04:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:11 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:13 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.538s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:04:13 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:04:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:04:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.28s (batch: 3.28s, save: 4.99s)	[pipeline.py: 300]
+05/13 23:04:15 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.31s:
+  episode_total: mean=71.47s, total=71.47s, count=1, min=71467.8ms, max=71467.8ms
+  sensor_polling: mean=151.8ms, total=42.05s, count=277, min=134.1ms, max=448.5ms
+  save_trajectories: mean=4.99s, total=4.99s, count=1, min=4992.0ms, max=4992.0ms
+  save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3283.8ms, max=3283.8ms
+  physics_step: mean=9.7ms, total=2.69s, count=277, min=8.1ms, max=14.9ms
+  task_sampling: mean=307.3ms, total=307.3ms, count=1, min=307.3ms, max=307.3ms
+  task_specific_sample: mean=304.7ms, total=304.7ms, count=1, min=304.7ms, max=304.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=265.3us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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]
+05/13 23:04:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149527m	[env.py: 870]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12537462 -1.15752018 -0.14952707] yaw=-9.2deg	[env.py: 1019]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=94.0ms, total=94.0ms	[env.py: 1075]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.125, -1.158, -0.150)	[env.py: 1079]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.2 deg	[env.py: 1082]
+05/13 23:04:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:16 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105323m	[env.py: 870]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44344253 -1.06439579 -0.10532272] yaw=-60.6deg	[env.py: 1019]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32339798 -1.07532593 -0.10532272] yaw=-52.8deg	[env.py: 1019]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=300.7ms, total=300.7ms	[env.py: 1075]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -1.064, -0.105)	[env.py: 1079]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.6 deg	[env.py: 1082]
+05/13 23:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:17 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.527s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:04:17 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:04:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:17 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.628[m] 79.819[deg]	[grasp_sample.py: 539]
+05/13 23:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177767m	[env.py: 870]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46701276 -0.99540921 -0.17776669] yaw=-36.7deg	[env.py: 1019]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2655592  -1.25477099 -0.17776669] yaw=-22.5deg	[env.py: 1019]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.6ms, total=140.6ms	[env.py: 1075]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.995, -0.178)	[env.py: 1079]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.7 deg	[env.py: 1082]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:20 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:21 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.648[m] 75.522[deg]	[grasp_sample.py: 539]
+05/13 23:04:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:04:23 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:04:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:04:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:35 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:04:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:04:35 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 23:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:04:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:04:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:04:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.03s (batch: 3.41s, save: 4.62s)	[pipeline.py: 300]
+05/13 23:04:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:04:44 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.30s:
+  episode_total: mean=66.36s, total=66.36s, count=1, min=66362.5ms, max=66362.5ms
+  sensor_polling: mean=154.0ms, total=40.21s, count=261, min=134.9ms, max=495.7ms
+  save_trajectories: mean=4.62s, total=4.62s, count=1, min=4622.1ms, max=4622.1ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3409.6ms, max=3409.6ms
+  physics_step: mean=9.7ms, total=2.54s, count=261, min=7.7ms, max=15.7ms
+  task_sampling: mean=305.0ms, total=305.0ms, count=1, min=305.0ms, max=305.0ms
+  task_specific_sample: mean=302.3ms, total=302.3ms, count=1, min=302.3ms, max=302.3ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=246.5us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=16.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:04:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:04:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:46 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]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189579m	[env.py: 870]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=706.9ms, total=707.0ms	[env.py: 1105]
+05/13 23:04:46 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:04:46 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:04:46 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:04:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161668m	[env.py: 870]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7581112  -0.78164851 -0.16166808] yaw=-66.3deg	[env.py: 1019]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.7ms	[env.py: 1075]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.758, -0.782, -0.162)	[env.py: 1079]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg	[env.py: 1082]
+05/13 23:04:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:48 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:04:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.218s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:50 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.711[m] 91.666[deg]	[grasp_sample.py: 539]
+05/13 23:04:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:59 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:04:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:04:59 INFO: [Worker 0] Preparing episode data: 283 timesteps	[save_utils.py: 278]
+05/13 23:05:04 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:05:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:05:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:05:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.46s (batch: 3.50s, save: 4.96s)	[pipeline.py: 300]
+05/13 23:05:09 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.64s:
+  episode_total: mean=42.75s, total=85.51s, count=2, min=14258.2ms, max=71250.0ms
+  sensor_polling: mean=151.4ms, total=49.21s, count=325, min=134.6ms, max=454.9ms
+  save_trajectories: mean=4.96s, total=4.96s, count=1, min=4961.5ms, max=4961.5ms
+  save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3501.4ms, max=3501.4ms
+  physics_step: mean=9.7ms, total=3.17s, count=325, min=7.7ms, max=13.5ms
+  task_sampling: mean=318.8ms, total=637.6ms, count=2, min=283.3ms, max=354.2ms
+  task_specific_sample: mean=315.8ms, total=631.7ms, count=2, min=280.5ms, max=351.2ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms
+  mj_forward_sync: mean=279.3us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=12.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:05:10 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:05:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103370m	[env.py: 870]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66649841 -0.95338921 -0.10336998] yaw=-80.1deg	[env.py: 1019]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=101.4ms, total=101.4ms	[env.py: 1075]
+05/13 23:05:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.666, -0.953, -0.103)	[env.py: 1079]
+05/13 23:05:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.1 deg	[env.py: 1082]
+05/13 23:05:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 23:05:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:11 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:11 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.639[m] 97.568[deg]	[grasp_sample.py: 539]
+05/13 23:05:12 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:05:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161363m	[env.py: 870]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25332674 -0.92352146 -0.16136289] yaw=-76.1deg	[env.py: 1019]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=85.7ms, total=85.7ms	[env.py: 1075]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -0.924, -0.161)	[env.py: 1079]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg	[env.py: 1082]
+05/13 23:05:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:14 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.583s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:05:16 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:05:16 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:05:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:05:16 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122030m	[env.py: 870]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=98.4ms, total=98.4ms	[env.py: 1105]
+05/13 23:05:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:05:17 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:05:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145367m	[env.py: 870]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1747021  -1.28562029 -0.14536715] yaw=-10.8deg	[env.py: 1019]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.03804441 -1.32868191 -0.14536715] yaw=-29.5deg	[env.py: 1019]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09415761 -1.2528409  -0.14536715] yaw=-54.1deg	[env.py: 1019]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=44.4ms, total=44.4ms	[env.py: 1075]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.286, -0.145)	[env.py: 1079]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.8 deg	[env.py: 1082]
+05/13 23:05:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:19 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:05:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.049s, found 145 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:23 INFO: [Worker 0] Feasibility-checked 234 grasps in 4.225s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:23 INFO: [Worker 0] Feasible grasp found 176 (originally 176): w/ 0.655[m] 84.136[deg]	[grasp_sample.py: 539]
+05/13 23:05:24 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:05:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:05:24 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 23:05:24 INFO: [Worker 0] Feasibility-checked 145 grasps in 4.559s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:24 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.041[m] 6.565[deg]	[grasp_sample.py: 539]
+05/13 23:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:05:24 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:05:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:05:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:05:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.93s (batch: 3.14s, save: 4.79s)	[pipeline.py: 300]
+05/13 23:05:25 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.47s:
+  episode_total: mean=68.24s, total=68.24s, count=1, min=68245.0ms, max=68245.0ms
+  sensor_polling: mean=150.1ms, total=39.03s, count=260, min=134.2ms, max=409.5ms
+  save_trajectories: mean=4.79s, total=4.79s, count=1, min=4785.2ms, max=4785.2ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3142.3ms, max=3142.3ms
+  physics_step: mean=9.8ms, total=2.55s, count=260, min=7.7ms, max=25.5ms
+  task_sampling: mean=471.6ms, total=471.6ms, count=1, min=471.6ms, max=471.6ms
+  task_specific_sample: mean=469.2ms, total=469.2ms, count=1, min=469.2ms, max=469.2ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=252.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194213m	[env.py: 870]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5001607  -1.01833815 -0.19421311] yaw=-30.1deg	[env.py: 1019]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.9ms, total=125.9ms	[env.py: 1075]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -1.018, -0.194)	[env.py: 1079]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.1 deg	[env.py: 1082]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m	[env.py: 1086]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:26 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155750m	[env.py: 870]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:26 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]
+05/13 23:05:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52964839 -0.86819765 -0.15575036] yaw=-79.3deg	[env.py: 1019]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63446354 -0.69660706 -0.15575036] yaw=-92.4deg	[env.py: 1019]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.070s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.2ms, total=129.2ms	[env.py: 1075]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.868, -0.156)	[env.py: 1079]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.3 deg	[env.py: 1082]
+05/13 23:05:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:26 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:26 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]
+05/13 23:05:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155264m	[env.py: 870]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:27 INFO: [Worker 0] Feasibility-checked 240 grasps in 0.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:27 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.636[m] 82.157[deg]	[grasp_sample.py: 539]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.05088927 -1.40942353 -0.15526425] yaw=-43.7deg	[env.py: 1019]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00536575 -1.2361601  -0.15526425] yaw=-12.6deg	[env.py: 1019]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67078998 -0.90096087 -0.15526425] yaw=-78.3deg	[env.py: 1019]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.1ms, total=77.1ms	[env.py: 1075]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.051, -1.409, -0.155)	[env.py: 1079]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/13 23:05:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:05:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:27 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:05:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:05:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.495s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:05:28 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:05:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196849m	[env.py: 870]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44144526 -1.00846316 -0.19684939] yaw=-64.9deg	[env.py: 1019]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.36454866 -1.10601174 -0.19684939] yaw=-27.0deg	[env.py: 1019]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=337.6ms, total=337.7ms	[env.py: 1075]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -1.008, -0.197)	[env.py: 1079]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 23:05:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:30 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:31 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.615[m] 90.052[deg]	[grasp_sample.py: 539]
+05/13 23:05:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:05:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:05:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:05:32 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.360s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:32 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.736[m] 102.124[deg]	[grasp_sample.py: 539]
+05/13 23:05:32 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:05:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:05:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:05:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.78s (batch: 3.84s, save: 4.94s)	[pipeline.py: 300]
+05/13 23:05:33 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.75s:
+  episode_total: mean=25.84s, total=77.52s, count=3, min=1832.4ms, max=73795.6ms
+  sensor_polling: mean=156.9ms, total=41.58s, count=265, min=142.9ms, max=350.4ms
+  save_trajectories: mean=4.94s, total=4.94s, count=1, min=4942.4ms, max=4942.4ms
+  save_batch_prep: mean=3.84s, total=3.84s, count=1, min=3840.4ms, max=3840.4ms
+  physics_step: mean=9.9ms, total=2.62s, count=265, min=7.7ms, max=14.4ms
+  task_sampling: mean=251.6ms, total=754.7ms, count=3, min=213.7ms, max=292.0ms
+  task_specific_sample: mean=248.7ms, total=746.2ms, count=3, min=211.1ms, max=288.7ms
+  scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=271.0us, total=0.8ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:05:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117849m	[env.py: 870]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2062117  -1.01536153 -0.11784944] yaw=-61.8deg	[env.py: 1019]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0745266  -1.1317783  -0.11784944] yaw=-48.1deg	[env.py: 1019]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=331.9ms, total=331.9ms	[env.py: 1075]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.015, -0.118)	[env.py: 1079]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg	[env.py: 1082]
+05/13 23:05:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:34 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166063m	[env.py: 870]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28235826 -1.27084478 -0.16606301] yaw=-40.4deg	[env.py: 1019]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.01729717 -1.26014181 -0.16606301] yaw=0.2deg	[env.py: 1019]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:05:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.469s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:05:36 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20243507 -1.31930736 -0.16606301] yaw=-51.6deg	[env.py: 1019]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.4ms, total=118.4ms	[env.py: 1075]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.282, -1.271, -0.166)	[env.py: 1079]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg	[env.py: 1082]
+05/13 23:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:36 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:37 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:37 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.596[m] 84.813[deg]	[grasp_sample.py: 539]
+05/13 23:05:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:05:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:05:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:05:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:05:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:05:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:05:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167660m	[env.py: 870]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:05:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59195851 -0.76982568 -0.16765977] yaw=-74.7deg	[env.py: 1019]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:05:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.9ms	[env.py: 1075]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.592, -0.770, -0.168)	[env.py: 1079]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg	[env.py: 1082]
+05/13 23:05:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:05:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:05:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:05:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:05:38 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:05:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:05:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:05:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:05:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:05:40 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.177s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:05:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.747[m] 100.242[deg]	[grasp_sample.py: 539]
+05/13 23:05:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:05:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:05:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:05:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:05:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:05:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:06:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:06:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:09 INFO: [Worker 0] Feasibility-checked 235 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:09 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.146[m] 4.294[deg]	[grasp_sample.py: 539]
+05/13 23:06:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:15 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:06:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:06:17 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]
+05/13 23:06:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:17 INFO: [Worker 0] Feasibility-checked 235 grasps in 0.609s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:17 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.111[m] 3.380[deg]	[grasp_sample.py: 539]
+05/13 23:06:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:18 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:21 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:06:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:06:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:24 INFO: [Worker 0] Feasibility-checked 233 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:24 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.102[m] 3.018[deg]	[grasp_sample.py: 539]
+05/13 23:06:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:28 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:06:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:28 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 23:06:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:06:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:06:30 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:06:30 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=1.42s:
+  episode_total: mean=19.56s, total=97.79s, count=5, min=718.2ms, max=52490.0ms
+  sensor_polling: mean=150.7ms, total=50.92s, count=338, min=133.7ms, max=451.4ms
+  physics_step: mean=9.0ms, total=3.05s, count=338, min=6.2ms, max=13.6ms
+  task_specific_sample: mean=424.8ms, total=2.12s, count=5, min=273.7ms, max=710.8ms
+  task_sampling: mean=355.7ms, total=1.42s, count=4, min=275.6ms, max=503.9ms
+  task_sampling_failed: mean=718.2ms, total=718.2ms, count=1, min=718.2ms, max=718.2ms
+  scene_randomize: mean=1.1ms, total=5.5ms, count=5, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=265.2us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:06:30 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:06:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:30 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:06:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198616m	[env.py: 870]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.58610936 -0.84037484 -0.19861611] yaw=-77.2deg	[env.py: 1019]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.0ms, total=124.1ms	[env.py: 1075]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.586, -0.840, -0.199)	[env.py: 1079]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg	[env.py: 1082]
+05/13 23:06:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:32 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:34 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:06:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:34 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 23:06:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:06:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.65s (batch: 2.97s, save: 4.68s)	[pipeline.py: 300]
+05/13 23:06:36 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.73s:
+  episode_total: mean=34.03s, total=68.06s, count=2, min=1847.7ms, max=66210.7ms
+  sensor_polling: mean=150.8ms, total=38.44s, count=255, min=135.1ms, max=429.7ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4677.4ms, max=4677.4ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2970.8ms, max=2970.8ms
+  physics_step: mean=9.5ms, total=2.43s, count=255, min=7.4ms, max=13.8ms
+  task_sampling: mean=364.1ms, total=728.2ms, count=2, min=245.5ms, max=482.6ms
+  task_specific_sample: mean=361.7ms, total=723.4ms, count=2, min=243.1ms, max=480.3ms
+  scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=255.2us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:06:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:36 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.690[m] 95.423[deg]	[grasp_sample.py: 539]
+05/13 23:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:38 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]
+05/13 23:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178049m	[env.py: 870]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=133.6ms, total=133.6ms	[env.py: 1105]
+05/13 23:06:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:06:38 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]
+05/13 23:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:38 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]
+05/13 23:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190767m	[env.py: 870]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48553899 -0.81453137 -0.19076738] yaw=-55.7deg	[env.py: 1019]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18846259 -1.3689667  -0.19076738] yaw=-49.7deg	[env.py: 1019]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=142.4ms, total=142.4ms	[env.py: 1075]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.815, -0.191)	[env.py: 1079]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg	[env.py: 1082]
+05/13 23:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.027m	[env.py: 1086]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:39 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:39 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]
+05/13 23:06:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:06:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.41s (batch: 3.02s, save: 5.39s)	[pipeline.py: 300]
+05/13 23:06:39 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.88s:
+  episode_total: mean=16.47s, total=82.37s, count=5, min=103.6ms, max=73714.1ms
+  sensor_polling: mean=180.3ms, total=47.60s, count=264, min=138.5ms, max=429.5ms
+  save_trajectories: mean=5.39s, total=5.39s, count=1, min=5386.2ms, max=5386.2ms
+  save_batch_prep: mean=3.02s, total=3.02s, count=1, min=3019.4ms, max=3019.4ms
+  physics_step: mean=11.0ms, total=2.91s, count=264, min=7.6ms, max=15.3ms
+  task_specific_sample: mean=195.2ms, total=975.9ms, count=5, min=101.4ms, max=277.5ms
+  task_sampling: mean=221.0ms, total=883.9ms, count=4, min=162.7ms, max=279.6ms
+  task_sampling_failed: mean=103.6ms, total=103.6ms, count=1, min=103.6ms, max=103.6ms
+  scene_randomize: mean=1.1ms, total=5.3ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=252.2us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=12.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:06:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143811m	[env.py: 870]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17289823 -1.41296104 -0.1438106 ] yaw=-26.4deg	[env.py: 1019]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06737201 -1.11365341 -0.1438106 ] yaw=-56.3deg	[env.py: 1019]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67117933 -0.67498108 -0.1438106 ] yaw=-48.9deg	[env.py: 1019]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.7ms, total=96.7ms	[env.py: 1075]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.413, -0.144)	[env.py: 1079]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.4 deg	[env.py: 1082]
+05/13 23:06:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:40 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.060s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175960m	[env.py: 870]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91887275 -0.72545747 -0.1759595 ] yaw=-61.0deg	[env.py: 1019]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16623691 -1.02599288 -0.1759595 ] yaw=-29.5deg	[env.py: 1019]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47771435 -0.87408636 -0.1759595 ] yaw=-48.1deg	[env.py: 1019]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.4ms, total=320.4ms	[env.py: 1075]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.919, -0.725, -0.176)	[env.py: 1079]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 23:06:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:41 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:06:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.25s (batch: 3.47s, save: 4.78s)	[pipeline.py: 300]
+05/13 23:06:43 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.27s:
+  episode_total: mean=67.14s, total=67.14s, count=1, min=67139.0ms, max=67139.0ms
+  sensor_polling: mean=155.6ms, total=39.67s, count=255, min=139.7ms, max=428.5ms
+  save_trajectories: mean=4.78s, total=4.78s, count=1, min=4779.4ms, max=4779.4ms
+  save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3467.8ms, max=3467.8ms
+  physics_step: mean=9.9ms, total=2.52s, count=255, min=8.1ms, max=15.9ms
+  task_sampling: mean=265.6ms, total=265.6ms, count=1, min=265.6ms, max=265.6ms
+  task_specific_sample: mean=262.4ms, total=262.4ms, count=1, min=262.4ms, max=262.4ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=290.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=28.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:06:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.291s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:44 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.690[m] 85.773[deg]	[grasp_sample.py: 539]
+05/13 23:06:44 INFO: [Worker 0] Feasibility-checked 230 grasps in 4.270s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:44 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.609[m] 92.867[deg]	[grasp_sample.py: 539]
+05/13 23:06:44 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:45 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199879m	[env.py: 870]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=92.5ms, total=92.5ms	[env.py: 1105]
+05/13 23:06:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:06:45 ERROR: [Worker 0] Worker 0 house 1 episode 45 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:46 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]
+05/13 23:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163845m	[env.py: 870]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.9072969  -0.86566904 -0.16384484] yaw=-67.6deg	[env.py: 1019]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10451287 -1.1567867  -0.16384484] yaw=-52.0deg	[env.py: 1019]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61170947 -0.8853229  -0.16384484] yaw=-86.3deg	[env.py: 1019]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=72.1ms, total=72.1ms	[env.py: 1075]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.907, -0.866, -0.164)	[env.py: 1079]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg	[env.py: 1082]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:46 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:46 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]
+05/13 23:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133953m	[env.py: 870]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22045807 -1.31556654 -0.13395295] yaw=-39.3deg	[env.py: 1019]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.89447947 -0.84131028 -0.13395295] yaw=-82.4deg	[env.py: 1019]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.2ms, total=155.2ms	[env.py: 1075]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.316, -0.134)	[env.py: 1079]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg	[env.py: 1082]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.160s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:47 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.777[m] 90.912[deg]	[grasp_sample.py: 539]
+05/13 23:06:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:47 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:47 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]
+05/13 23:06:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.714s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:47 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.681[m] 92.922[deg]	[grasp_sample.py: 539]
+05/13 23:06:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:47 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144536m	[env.py: 870]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6360122  -0.85751475 -0.14453587] yaw=-94.5deg	[env.py: 1019]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26438579 -0.912558   -0.14453587] yaw=-70.1deg	[env.py: 1019]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04186644 -1.17742786 -0.14453587] yaw=-27.8deg	[env.py: 1019]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.7ms, total=120.7ms	[env.py: 1075]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.636, -0.858, -0.145)	[env.py: 1079]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.5 deg	[env.py: 1082]
+05/13 23:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:06:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:48 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:48 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.553s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.637[m] 82.415[deg]	[grasp_sample.py: 539]
+05/13 23:06:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101387m	[env.py: 870]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42923719 -1.08684253 -0.10138711] yaw=-78.8deg	[env.py: 1019]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=95.2ms, total=95.2ms	[env.py: 1075]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.087, -0.101)	[env.py: 1079]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.8 deg	[env.py: 1082]
+05/13 23:06:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m	[env.py: 1086]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:49 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:51 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.570s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.676[m] 91.831[deg]	[grasp_sample.py: 539]
+05/13 23:06:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:53 INFO: [Worker 0] Feasibility-checked 243 grasps in 5.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:53 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.713[m] 98.171[deg]	[grasp_sample.py: 539]
+05/13 23:06:54 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:56 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]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110756m	[env.py: 870]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52972538 -0.88591502 -0.1107559 ] yaw=-45.5deg	[env.py: 1019]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6601355  -0.80631924 -0.1107559 ] yaw=-65.2deg	[env.py: 1019]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.1ms, total=141.1ms	[env.py: 1075]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.530, -0.886, -0.111)	[env.py: 1079]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg	[env.py: 1082]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:56 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.095s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:59 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.733[m] 82.889[deg]	[grasp_sample.py: 539]
+05/13 23:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:59 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:06:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:06:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:06:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:06:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.712s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.516[m] 64.997[deg]	[grasp_sample.py: 539]
+05/13 23:07:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:07:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155642m	[env.py: 870]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54028433 -0.90194645 -0.15564167] yaw=-86.2deg	[env.py: 1019]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15773897 -1.14750765 -0.15564167] yaw=-33.4deg	[env.py: 1019]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14950662 -1.14482064 -0.15564167] yaw=-12.8deg	[env.py: 1019]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.8ms	[env.py: 1075]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.902, -0.156)	[env.py: 1079]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.2 deg	[env.py: 1082]
+05/13 23:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:02 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:04 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:04 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.712[m] 91.607[deg]	[grasp_sample.py: 539]
+05/13 23:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:04 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:07:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:07:06 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]
+05/13 23:07:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118607m	[env.py: 870]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4842628  -0.87558582 -0.11860691] yaw=-43.3deg	[env.py: 1019]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.896s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:07 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.512[m] 64.306[deg]	[grasp_sample.py: 539]
+05/13 23:07:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20988026 -1.16557102 -0.11860691] yaw=-18.1deg	[env.py: 1019]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms	[env.py: 1075]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.876, -0.119)	[env.py: 1079]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg	[env.py: 1082]
+05/13 23:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:07 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.133s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.725[m] 79.397[deg]	[grasp_sample.py: 539]
+05/13 23:07:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:12 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:07:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:07:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:07:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.512[m] 64.307[deg]	[grasp_sample.py: 539]
+05/13 23:07:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:07:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:07:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:07:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:07:19 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:07:19 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=0.79s:
+  episode_total: mean=14.65s, total=43.94s, count=3, min=5127.3ms, max=32610.2ms
+  sensor_polling: mean=151.5ms, total=11.82s, count=78, min=138.2ms, max=208.3ms
+  task_sampling: mean=262.8ms, total=788.5ms, count=3, min=224.5ms, max=288.7ms
+  task_specific_sample: mean=260.1ms, total=780.2ms, count=3, min=222.5ms, max=284.3ms
+  physics_step: mean=8.9ms, total=698.0ms, count=78, min=6.5ms, max=19.1ms
+  scene_randomize: mean=922.3us, total=2.8ms, count=3, min=0.8ms, max=1.0ms
+  mj_forward_sync: mean=255.9us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:07:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:07:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155120m	[env.py: 870]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27899625 -1.18773402 -0.15512044] yaw=-51.3deg	[env.py: 1019]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46830303 -0.77012389 -0.15512044] yaw=-88.1deg	[env.py: 1019]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1243038  -1.01837246 -0.15512044] yaw=-28.8deg	[env.py: 1019]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.9ms, total=120.9ms	[env.py: 1075]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.188, -0.155)	[env.py: 1079]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/13 23:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m	[env.py: 1086]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:21 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.608[m] 85.484[deg]	[grasp_sample.py: 539]
+05/13 23:07:23 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:07:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:07:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139751m	[env.py: 870]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23937041 -1.29376634 -0.13975126] yaw=-43.6deg	[env.py: 1019]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.12201954 -1.20753062 -0.13975126] yaw=-56.2deg	[env.py: 1019]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12187954 -1.36502977 -0.13975126] yaw=-5.8deg	[env.py: 1019]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.7ms, total=155.7ms	[env.py: 1075]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.239, -1.294, -0.140)	[env.py: 1079]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg	[env.py: 1082]
+05/13 23:07:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m	[env.py: 1086]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:25 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.037s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:30 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.592[m] 85.191[deg]	[grasp_sample.py: 539]
+05/13 23:07:31 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:07:32 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:07:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:07:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176022m	[env.py: 870]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6731629  -0.79875473 -0.17602201] yaw=-67.1deg	[env.py: 1019]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8281401  -0.78022692 -0.17602201] yaw=-84.2deg	[env.py: 1019]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=165.9ms, total=165.9ms	[env.py: 1075]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.799, -0.176)	[env.py: 1079]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg	[env.py: 1082]
+05/13 23:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:33 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:37 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:07:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:07:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.351s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:39 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.677[m] 98.242[deg]	[grasp_sample.py: 539]
+05/13 23:07:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:44 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:07:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:07:44 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:07:50 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:07:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:07:50 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 23:07:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:07:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:07:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.00s (batch: 3.15s, save: 4.85s)	[pipeline.py: 300]
+05/13 23:07:53 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.56s:
+  episode_total: mean=23.83s, total=71.50s, count=3, min=140.1ms, max=66170.8ms
+  sensor_polling: mean=150.6ms, total=39.77s, count=264, min=137.1ms, max=412.6ms
+  save_trajectories: mean=4.85s, total=4.85s, count=1, min=4849.7ms, max=4849.7ms
+  save_batch_prep: mean=3.15s, total=3.15s, count=1, min=3147.6ms, max=3147.6ms
+  physics_step: mean=9.7ms, total=2.57s, count=264, min=7.6ms, max=14.7ms
+  task_specific_sample: mean=231.9ms, total=695.7ms, count=3, min=137.0ms, max=298.6ms
+  task_sampling: mean=281.6ms, total=563.2ms, count=2, min=262.8ms, max=300.5ms
+  task_sampling_failed: mean=140.1ms, total=140.1ms, count=1, min=140.1ms, max=140.1ms
+  scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=253.7us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:07:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:54 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]
+05/13 23:07:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168278m	[env.py: 870]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38965477 -0.79916217 -0.16827826] yaw=-69.2deg	[env.py: 1019]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47076525 -0.940952   -0.16827826] yaw=-45.1deg	[env.py: 1019]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.90663012 -0.8016726  -0.16827826] yaw=-61.8deg	[env.py: 1019]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.6ms, total=182.6ms	[env.py: 1075]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.799, -0.168)	[env.py: 1079]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg	[env.py: 1082]
+05/13 23:07:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:55 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:07:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.461s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:07:56 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:07:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:07:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:07:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:07:58 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]
+05/13 23:07:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:07:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177288m	[env.py: 870]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:07:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90803875 -0.67403272 -0.17728842] yaw=-80.6deg	[env.py: 1019]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13105503 -1.40345446 -0.17728842] yaw=-2.0deg	[env.py: 1019]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:07:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms	[env.py: 1075]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.908, -0.674, -0.177)	[env.py: 1079]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.6 deg	[env.py: 1082]
+05/13 23:07:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:07:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:07:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:07:58 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:07:58 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:07:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:07:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:07:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:07:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.551s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:00 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:08:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:08:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.35s (batch: 4.57s, save: 5.78s)	[pipeline.py: 300]
+05/13 23:08:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158319m	[env.py: 870]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:01 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.72s:
+  episode_total: mean=39.43s, total=78.87s, count=2, min=6280.8ms, max=72586.3ms
+  sensor_polling: mean=153.1ms, total=40.88s, count=267, min=132.1ms, max=438.7ms
+  save_trajectories: mean=5.78s, total=5.78s, count=1, min=5780.0ms, max=5780.0ms
+  save_batch_prep: mean=4.57s, total=4.57s, count=1, min=4570.1ms, max=4570.1ms
+  physics_step: mean=9.9ms, total=2.64s, count=267, min=7.2ms, max=33.6ms
+  task_sampling: mean=359.5ms, total=719.0ms, count=2, min=228.2ms, max=490.9ms
+  task_specific_sample: mean=356.9ms, total=713.9ms, count=2, min=225.8ms, max=488.1ms
+  scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=256.5us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60864638 -0.8223687  -0.15831902] yaw=-71.8deg	[env.py: 1019]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40824197 -0.94741079 -0.15831902] yaw=-28.1deg	[env.py: 1019]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18624669 -1.28725264 -0.15831902] yaw=-56.0deg	[env.py: 1019]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.8ms, total=90.8ms	[env.py: 1075]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.822, -0.158)	[env.py: 1079]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg	[env.py: 1082]
+05/13 23:08:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m	[env.py: 1086]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:02 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167355m	[env.py: 870]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86540891 -0.66589865 -0.16735525] yaw=-99.0deg	[env.py: 1019]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=132.0ms, total=132.0ms	[env.py: 1075]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.865, -0.666, -0.167)	[env.py: 1079]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.0 deg	[env.py: 1082]
+05/13 23:08:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:03 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:05 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.564s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:05 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:06 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.672[m] 95.850[deg]	[grasp_sample.py: 539]
+05/13 23:08:06 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:08:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173139m	[env.py: 870]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06135336 -1.23455603 -0.17313851] yaw=-51.1deg	[env.py: 1019]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44113215 -1.02053712 -0.17313851] yaw=-51.3deg	[env.py: 1019]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=130.9ms, total=130.9ms	[env.py: 1075]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -1.235, -0.173)	[env.py: 1079]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg	[env.py: 1082]
+05/13 23:08:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:07 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180357m	[env.py: 870]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11395064 -1.42684577 -0.18035692] yaw=-41.3deg	[env.py: 1019]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15592787 -1.41656751 -0.18035692] yaw=-43.1deg	[env.py: 1019]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12511287 -1.20916651 -0.18035692] yaw=-10.1deg	[env.py: 1019]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.1ms, total=61.1ms	[env.py: 1075]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.114, -1.427, -0.180)	[env.py: 1079]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.3 deg	[env.py: 1082]
+05/13 23:08:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:08 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.388s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:08 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:10 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.596s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:10 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.670[m] 75.909[deg]	[grasp_sample.py: 539]
+05/13 23:08:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133782m	[env.py: 870]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71242811 -0.70456986 -0.13378231] yaw=-59.3deg	[env.py: 1019]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18886067 -1.09107656 -0.13378231] yaw=-23.3deg	[env.py: 1019]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.7ms, total=129.7ms	[env.py: 1075]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.712, -0.705, -0.134)	[env.py: 1079]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/13 23:08:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:08:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:10 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:12 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:08:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:08:12 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 23:08:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.574s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:12 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143242m	[env.py: 870]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60867755 -0.72462284 -0.1432422 ] yaw=-69.2deg	[env.py: 1019]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.07548793 -1.35237937 -0.1432422 ] yaw=-0.7deg	[env.py: 1019]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14547477 -1.16234378 -0.1432422 ] yaw=-53.6deg	[env.py: 1019]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.7ms, total=122.7ms	[env.py: 1075]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.725, -0.143)	[env.py: 1079]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg	[env.py: 1082]
+05/13 23:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:14 INFO: [Worker 0] Feasibility-checked 234 grasps in 8.612s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:14 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.091[m] 20.835[deg]	[grasp_sample.py: 539]
+05/13 23:08:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:14 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:15 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141946m	[env.py: 870]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:17 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]
+05/13 23:08:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.86026393 -0.9094324  -0.14194618] yaw=-64.7deg	[env.py: 1019]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 224 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -58.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.85191883 -0.93306089 -0.14194618] yaw=-94.1deg	[env.py: 1019]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=155.0ms, total=155.0ms	[env.py: 1075]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.860, -0.909, -0.142)	[env.py: 1079]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/13 23:08:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:17 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:17 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]
+05/13 23:08:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.781s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.632[m] 85.124[deg]	[grasp_sample.py: 539]
+05/13 23:08:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:08:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:08:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:08:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.63s (batch: 3.77s, save: 4.86s)	[pipeline.py: 300]
+05/13 23:08:21 INFO: [Worker 0] Feasibility-checked 224 grasps in 3.940s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:21 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.159[m] 12.940[deg]	[grasp_sample.py: 539]
+05/13 23:08:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:21 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.24s:
+  episode_total: mean=17.32s, total=86.59s, count=5, min=99.2ms, max=74632.5ms
+  sensor_polling: mean=159.4ms, total=44.64s, count=280, min=143.9ms, max=416.4ms
+  save_trajectories: mean=4.86s, total=4.86s, count=1, min=4858.4ms, max=4858.4ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3772.6ms, max=3772.6ms
+  physics_step: mean=9.9ms, total=2.78s, count=280, min=8.1ms, max=17.9ms
+  task_specific_sample: mean=264.9ms, total=1.32s, count=5, min=96.4ms, max=346.8ms
+  task_sampling: mean=309.9ms, total=1.24s, count=4, min=287.1ms, max=349.4ms
+  task_sampling_failed: mean=99.2ms, total=99.2ms, count=1, min=99.2ms, max=99.2ms
+  scene_randomize: mean=1.1ms, total=5.6ms, count=5, min=1.0ms, max=1.4ms
+  mj_forward_sync: mean=271.3us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=24.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:08:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:24 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]
+05/13 23:08:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106096m	[env.py: 870]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0706935  -1.35901173 -0.10609593] yaw=-36.0deg	[env.py: 1019]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27013727 -1.02373724 -0.10609593] yaw=-72.0deg	[env.py: 1019]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03879437 -1.36635676 -0.10609593] yaw=-40.7deg	[env.py: 1019]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.4ms, total=100.5ms	[env.py: 1075]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.071, -1.359, -0.106)	[env.py: 1079]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.0 deg	[env.py: 1082]
+05/13 23:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m	[env.py: 1086]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:24 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:26 INFO: [Worker 0] Feasibility-checked 239 grasps in 1.489s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:08:26 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 221 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189286m	[env.py: 870]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=84.1ms, total=84.1ms	[env.py: 1105]
+05/13 23:08:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:08:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.726s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.476[m] 59.192[deg]	[grasp_sample.py: 539]
+05/13 23:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:30 INFO: [Worker 0] Feasibility-checked 221 grasps in 4.152s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:30 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.212[m] 8.963[deg]	[grasp_sample.py: 539]
+05/13 23:08:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117908m	[env.py: 870]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=87.5ms, total=87.6ms	[env.py: 1105]
+05/13 23:08:31 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:08:31 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:08:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:33 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]
+05/13 23:08:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153445m	[env.py: 870]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2723559  -1.226319   -0.15344541] yaw=-24.0deg	[env.py: 1019]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=90.1ms, total=90.1ms	[env.py: 1075]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.226, -0.153)	[env.py: 1079]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.0 deg	[env.py: 1082]
+05/13 23:08:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:34 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:08:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:35 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.485s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:35 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.612[m] 88.119[deg]	[grasp_sample.py: 539]
+05/13 23:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:08:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.476[m] 59.193[deg]	[grasp_sample.py: 539]
+05/13 23:08:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.853s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.476[m] 59.193[deg]	[grasp_sample.py: 539]
+05/13 23:08:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:08:48 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:08:48 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=False episode_total=1.43s:
+  episode_total: mean=7.75s, total=38.77s, count=5, min=1742.7ms, max=31242.7ms
+  sensor_polling: mean=144.0ms, total=10.66s, count=74, min=136.3ms, max=155.3ms
+  task_sampling: mean=285.9ms, total=1.43s, count=5, min=268.6ms, max=312.1ms
+  task_specific_sample: mean=283.5ms, total=1.42s, count=5, min=266.5ms, max=309.5ms
+  physics_step: mean=8.0ms, total=589.9ms, count=74, min=6.2ms, max=10.0ms
+  scene_randomize: mean=1.1ms, total=5.5ms, count=5, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=265.0us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:50 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]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119725m	[env.py: 870]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.61157685 -0.94792945 -0.11972482] yaw=-55.7deg	[env.py: 1019]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41717356 -1.04624575 -0.11972482] yaw=-57.8deg	[env.py: 1019]
+05/13 23:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
+05/13 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.612, -0.948, -0.120)	[env.py: 1079]
+05/13 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg	[env.py: 1082]
+05/13 23:08:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m	[env.py: 1086]
+05/13 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:51 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 145 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:52 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.674[m] 92.539[deg]	[grasp_sample.py: 539]
+05/13 23:08:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:53 INFO: [Worker 0] Feasibility-checked 145 grasps in 1.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:53 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.041[m] 4.943[deg]	[grasp_sample.py: 539]
+05/13 23:08:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:57 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 381 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:09:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:02 INFO: [Worker 0] Feasible grasp found 60 (originally 60): w/ 0.033[m] 59.357[deg]	[grasp_sample.py: 539]
+05/13 23:09:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:02 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134938m	[env.py: 870]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37427294 -0.99550625 -0.13493758] yaw=-53.4deg	[env.py: 1019]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75530351 -0.89846046 -0.13493758] yaw=-66.0deg	[env.py: 1019]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.02413447 -1.38527902 -0.13493758] yaw=-24.2deg	[env.py: 1019]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=136.8ms, total=136.8ms	[env.py: 1075]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.996, -0.135)	[env.py: 1079]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg	[env.py: 1082]
+05/13 23:09:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:04 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.658s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.686[m] 94.119[deg]	[grasp_sample.py: 539]
+05/13 23:09:05 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:07 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]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154895m	[env.py: 870]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59434396 -0.77813696 -0.15489462] yaw=-44.6deg	[env.py: 1019]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50032072 -0.98592621 -0.15489462] yaw=-57.1deg	[env.py: 1019]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41086123 -0.84115686 -0.15489462] yaw=-52.7deg	[env.py: 1019]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.5ms, total=102.5ms	[env.py: 1075]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.778, -0.155)	[env.py: 1079]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg	[env.py: 1082]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:07 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:10 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:09:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:09:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:09:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:11 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.784[m] 83.840[deg]	[grasp_sample.py: 539]
+05/13 23:09:11 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154951m	[env.py: 870]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=194.7ms, total=194.7ms	[env.py: 1105]
+05/13 23:09:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:09:13 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]
+05/13 23:09:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118665m	[env.py: 870]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19737983 -1.31837681 -0.11866519] yaw=-29.5deg	[env.py: 1019]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -178.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21146844 -1.06476969 -0.11866519] yaw=-67.1deg	[env.py: 1019]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28508349 -1.16242447 -0.11866519] yaw=-18.0deg	[env.py: 1019]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.9ms	[env.py: 1075]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.318, -0.119)	[env.py: 1079]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.5 deg	[env.py: 1082]
+05/13 23:09:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:15 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:17 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.665[m] 86.666[deg]	[grasp_sample.py: 539]
+05/13 23:09:17 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191833m	[env.py: 870]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:09:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:09:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.24s (batch: 3.01s, save: 5.23s)	[pipeline.py: 300]
+05/13 23:09:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1105]
+05/13 23:09:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:09:19 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:09:19 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.91s:
+  episode_total: mean=38.38s, total=115.14s, count=3, min=2508.0ms, max=106610.9ms
+  sensor_polling: mean=149.9ms, total=44.98s, count=300, min=133.7ms, max=440.7ms
+  save_trajectories: mean=5.23s, total=5.23s, count=1, min=5231.1ms, max=5231.1ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3009.9ms, max=3009.9ms
+  physics_step: mean=9.5ms, total=2.85s, count=300, min=7.2ms, max=15.5ms
+  task_sampling: mean=303.8ms, total=911.3ms, count=3, min=268.3ms, max=325.0ms
+  task_specific_sample: mean=301.4ms, total=904.3ms, count=3, min=266.2ms, max=322.9ms
+  scene_randomize: mean=879.3us, total=2.6ms, count=3, min=0.8ms, max=1.0ms
+  mj_forward_sync: mean=246.8us, total=0.7ms, count=3, min=0.2ms, max=0.3ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:09:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:09:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149583m	[env.py: 870]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25536422 -1.06963259 -0.14958261] yaw=-28.1deg	[env.py: 1019]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62178173 -0.87440197 -0.14958261] yaw=-57.0deg	[env.py: 1019]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07860163 -1.10539466 -0.14958261] yaw=-52.1deg	[env.py: 1019]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms	[env.py: 1075]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.070, -0.150)	[env.py: 1079]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.1 deg	[env.py: 1082]
+05/13 23:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:21 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175019m	[env.py: 870]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11050037 -1.14852459 -0.17501877] yaw=-44.5deg	[env.py: 1019]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38220646 -0.84242043 -0.17501877] yaw=-64.8deg	[env.py: 1019]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.9ms	[env.py: 1075]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.149, -0.175)	[env.py: 1079]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/13 23:09:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:21 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:22 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.988s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:22 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.688[m] 76.893[deg]	[grasp_sample.py: 539]
+05/13 23:09:22 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:23 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:09:23 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.503s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:09:23 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:09:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124027m	[env.py: 870]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53572981 -0.73304506 -0.12402697] yaw=-49.7deg	[env.py: 1019]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86097874 -0.91552451 -0.12402697] yaw=-104.8deg	[env.py: 1019]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=141.2ms, total=141.2ms	[env.py: 1075]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.733, -0.124)	[env.py: 1079]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:24 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176964m	[env.py: 870]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20710573 -1.24627541 -0.17696425] yaw=-30.0deg	[env.py: 1019]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.4ms	[env.py: 1075]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.207, -1.246, -0.177)	[env.py: 1079]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.0 deg	[env.py: 1082]
+05/13 23:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:25 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.457s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:09:26 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:09:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.318s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.668[m] 93.687[deg]	[grasp_sample.py: 539]
+05/13 23:09:26 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123046m	[env.py: 870]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.86857372 -0.77192408 -0.12304626] yaw=-77.9deg	[env.py: 1019]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27178386 -1.10967513 -0.12304626] yaw=-25.0deg	[env.py: 1019]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36603421 -1.02876566 -0.12304626] yaw=-40.1deg	[env.py: 1019]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=148.7ms, total=148.7ms	[env.py: 1075]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.869, -0.772, -0.123)	[env.py: 1079]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.9 deg	[env.py: 1082]
+05/13 23:09:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:27 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 250 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106905m	[env.py: 870]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74010173 -0.65198007 -0.10690476] yaw=-62.9deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25909254 -1.16702471 -0.10690476] yaw=-21.5deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.02707356 -1.13592971 -0.10690476] yaw=-38.6deg	[env.py: 1019]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.7ms, total=111.7ms	[env.py: 1075]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.740, -0.652, -0.107)	[env.py: 1079]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg	[env.py: 1082]
+05/13 23:09:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:28 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.721s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:09:30 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:09:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198072m	[env.py: 870]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39491506 -1.0073091  -0.19807193] yaw=-78.0deg	[env.py: 1019]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.28072244 -1.24081803 -0.19807193] yaw=-32.0deg	[env.py: 1019]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19931242 -1.37114016 -0.19807193] yaw=-37.3deg	[env.py: 1019]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=46.8ms, total=46.9ms	[env.py: 1075]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.007, -0.198)	[env.py: 1079]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.0 deg	[env.py: 1082]
+05/13 23:09:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:32 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:33 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.159s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.678[m] 101.455[deg]	[grasp_sample.py: 539]
+05/13 23:09:34 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:09:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103670m	[env.py: 870]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45978747 -1.01408763 -0.10367038] yaw=-34.8deg	[env.py: 1019]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=127.5ms, total=127.6ms	[env.py: 1075]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.460, -1.014, -0.104)	[env.py: 1079]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 23:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 23:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:36 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:36 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:09:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:09:36 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 23:09:38 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.273s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:38 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.714[m] 84.952[deg]	[grasp_sample.py: 539]
+05/13 23:09:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:40 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:09:43 INFO: [Worker 0] Feasibility-checked 250 grasps in 15.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:43 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.720[m] 96.570[deg]	[grasp_sample.py: 539]
+05/13 23:09:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:09:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:09:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:09:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.18s (batch: 4.39s, save: 4.79s)	[pipeline.py: 300]
+05/13 23:09:46 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.47s:
+  episode_total: mean=18.66s, total=74.64s, count=4, min=91.5ms, max=72606.6ms
+  sensor_polling: mean=165.3ms, total=43.13s, count=261, min=141.1ms, max=413.1ms
+  save_trajectories: mean=4.79s, total=4.79s, count=1, min=4790.2ms, max=4790.2ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4392.9ms, max=4392.9ms
+  physics_step: mean=10.3ms, total=2.70s, count=261, min=7.9ms, max=16.6ms
+  task_specific_sample: mean=160.6ms, total=642.5ms, count=4, min=87.7ms, max=246.0ms
+  task_sampling: mean=234.2ms, total=468.4ms, count=2, min=219.5ms, max=248.9ms
+  task_sampling_failed: mean=92.6ms, total=185.2ms, count=2, min=91.5ms, max=93.7ms
+  scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=247.5us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:09:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104279m	[env.py: 870]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=181.7ms, total=181.7ms	[env.py: 1105]
+05/13 23:09:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:09:48 ERROR: [Worker 0] Worker 0 house 1 episode 54 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:09:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:09:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115811m	[env.py: 870]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.65431729 -0.82216192 -0.11581069] yaw=-56.8deg	[env.py: 1019]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44600619 -0.7725367  -0.11581069] yaw=-81.0deg	[env.py: 1019]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.18365352 -1.07411758 -0.11581069] yaw=-65.2deg	[env.py: 1019]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=225.4ms, total=225.4ms	[env.py: 1075]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.654, -0.822, -0.116)	[env.py: 1079]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg	[env.py: 1082]
+05/13 23:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:51 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:53 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:09:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:09:53 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 23:09:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:55 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.730[m] 90.295[deg]	[grasp_sample.py: 539]
+05/13 23:09:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:10:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:10:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.33s (batch: 3.16s, save: 5.17s)	[pipeline.py: 300]
+05/13 23:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:02 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.40s:
+  episode_total: mean=71.48s, total=71.48s, count=1, min=71484.9ms, max=71484.9ms
+  sensor_polling: mean=158.7ms, total=43.33s, count=273, min=137.6ms, max=447.8ms
+  save_trajectories: mean=5.17s, total=5.17s, count=1, min=5171.3ms, max=5171.3ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3156.7ms, max=3156.7ms
+  physics_step: mean=10.2ms, total=2.78s, count=273, min=8.1ms, max=15.3ms
+  task_sampling: mean=398.3ms, total=398.3ms, count=1, min=398.3ms, max=398.3ms
+  task_specific_sample: mean=395.7ms, total=395.7ms, count=1, min=395.7ms, max=395.7ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=290.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:10:03 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]
+05/13 23:10:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:04 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]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107613m	[env.py: 870]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27989464 -1.25910701 -0.10761291] yaw=-57.7deg	[env.py: 1019]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.85205822 -0.81452492 -0.10761291] yaw=-61.1deg	[env.py: 1019]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:10:04 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:04 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.174[m] 20.628[deg]	[grasp_sample.py: 539]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=105.4ms, total=105.4ms	[env.py: 1075]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.280, -1.259, -0.108)	[env.py: 1079]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.7 deg	[env.py: 1082]
+05/13 23:10:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:04 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.500s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:06 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.645[m] 88.086[deg]	[grasp_sample.py: 539]
+05/13 23:10:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:10:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:10:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:10:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:14 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:14 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.178[m] 18.868[deg]	[grasp_sample.py: 539]
+05/13 23:10:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:19 INFO: [Worker 0] Feasibility-checked 233 grasps in 8.242s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:19 INFO: [Worker 0] Feasible grasp found 191 (originally 191): w/ 0.063[m] 7.628[deg]	[grasp_sample.py: 539]
+05/13 23:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:20 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:10:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:10:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:20 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:20 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.188[m] 18.952[deg]	[grasp_sample.py: 539]
+05/13 23:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171442m	[env.py: 870]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75471713 -0.95456698 -0.17144198] yaw=-73.4deg	[env.py: 1019]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -114.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=137.0ms, total=137.0ms	[env.py: 1075]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.755, -0.955, -0.171)	[env.py: 1079]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg	[env.py: 1082]
+05/13 23:10:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:22 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:22 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.566[m] 88.670[deg]	[grasp_sample.py: 539]
+05/13 23:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:23 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:10:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:10:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:26 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]
+05/13 23:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195633m	[env.py: 870]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19198124 -1.40800703 -0.19563253] yaw=3.9deg	[env.py: 1019]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29953007 -1.23621436 -0.19563253] yaw=-56.9deg	[env.py: 1019]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.2ms, total=129.2ms	[env.py: 1075]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -1.408, -0.196)	[env.py: 1079]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 3.9 deg	[env.py: 1082]
+05/13 23:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:26 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:26 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.615s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.064[m] 3.229[deg]	[grasp_sample.py: 539]
+05/13 23:10:26 INFO: [Worker 0] Feasibility-checked 232 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:26 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.641[m] 85.913[deg]	[grasp_sample.py: 539]
+05/13 23:10:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:10:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:10:27 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:10:27 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=False episode_total=1.26s:
+  episode_total: mean=11.86s, total=59.30s, count=5, min=1887.9ms, max=51247.6ms
+  sensor_polling: mean=149.8ms, total=25.47s, count=170, min=136.5ms, max=430.3ms
+  physics_step: mean=9.2ms, total=1.57s, count=170, min=7.4ms, max=13.8ms
+  task_sampling: mean=252.3ms, total=1.26s, count=5, min=182.4ms, max=288.3ms
+  task_specific_sample: mean=250.2ms, total=1.25s, count=5, min=180.5ms, max=285.8ms
+  scene_randomize: mean=971.1us, total=4.9ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=273.3us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:10:27 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:27 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:28 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]
+05/13 23:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166461m	[env.py: 870]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22182023 -1.13914382 -0.16646148] yaw=-66.2deg	[env.py: 1019]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.1ms, total=129.2ms	[env.py: 1075]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.222, -1.139, -0.166)	[env.py: 1079]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg	[env.py: 1082]
+05/13 23:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:29 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133819m	[env.py: 870]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.051s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32976985 -1.22001252 -0.13381944] yaw=-41.6deg	[env.py: 1019]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35172187 -0.88818582 -0.13381944] yaw=-48.9deg	[env.py: 1019]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=190.1ms, total=190.1ms	[env.py: 1075]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.220, -0.134)	[env.py: 1079]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg	[env.py: 1082]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:29 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:10:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195292m	[env.py: 870]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00347439 -1.18893982 -0.19529234] yaw=-34.3deg	[env.py: 1019]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.5ms	[env.py: 1075]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.003, -1.189, -0.195)	[env.py: 1079]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.3 deg	[env.py: 1082]
+05/13 23:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:30 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:30 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]
+05/13 23:10:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:31 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:31 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.594[m] 83.510[deg]	[grasp_sample.py: 539]
+05/13 23:10:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:31 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.533s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:10:31 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:10:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:32 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.738[m] 85.115[deg]	[grasp_sample.py: 539]
+05/13 23:10:32 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:34 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]
+05/13 23:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:34 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]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171546m	[env.py: 870]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:34 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]
+05/13 23:10:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104100m	[env.py: 870]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=128.1ms, total=128.2ms	[env.py: 1105]
+05/13 23:10:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:10:34 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29531143 -1.21704943 -0.10409952] yaw=-15.2deg	[env.py: 1019]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26511577 -1.21359146 -0.10409952] yaw=-20.8deg	[env.py: 1019]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62483591 -0.86352788 -0.10409952] yaw=-71.1deg	[env.py: 1019]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=338.7ms, total=338.8ms	[env.py: 1075]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.217, -0.104)	[env.py: 1079]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.2 deg	[env.py: 1082]
+05/13 23:10:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:34 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:35 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]
+05/13 23:10:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151186m	[env.py: 870]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.04581784 -1.40252052 -0.15118584] yaw=-20.1deg	[env.py: 1019]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=125.7ms, total=125.8ms	[env.py: 1075]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.046, -1.403, -0.151)	[env.py: 1079]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.1 deg	[env.py: 1082]
+05/13 23:10:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m	[env.py: 1086]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:36 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:37 INFO: [Worker 0] Feasibility-checked 229 grasps in 2.213s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:37 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.662[m] 78.302[deg]	[grasp_sample.py: 539]
+05/13 23:10:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:10:38 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.696s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:10:38 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:10:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:40 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]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159805m	[env.py: 870]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.62230474 -0.86563781 -0.15980501] yaw=-80.9deg	[env.py: 1019]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12688976 -1.14734389 -0.15980501] yaw=-21.9deg	[env.py: 1019]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22533169 -1.36001151 -0.15980501] yaw=-31.0deg	[env.py: 1019]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=165.2ms, total=165.2ms	[env.py: 1075]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.622, -0.866, -0.160)	[env.py: 1079]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.9 deg	[env.py: 1082]
+05/13 23:10:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:40 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:42 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.684[m] 89.173[deg]	[grasp_sample.py: 539]
+05/13 23:10:42 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:10:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:10:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:10:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:10:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:10:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:10:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171792m	[env.py: 870]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:10:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32441757 -0.90653003 -0.17179247] yaw=-48.9deg	[env.py: 1019]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:10:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.8ms, total=120.8ms	[env.py: 1075]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -0.907, -0.172)	[env.py: 1079]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg	[env.py: 1082]
+05/13 23:10:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.035m	[env.py: 1086]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:10:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:10:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:10:44 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:10:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:10:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:10:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:10:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:10:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:10:46 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.766[m] 85.489[deg]	[grasp_sample.py: 539]
+05/13 23:10:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:10:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:10:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:51 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:10:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:10:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:11:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:07 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:11:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:07 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:11:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:12 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:11:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:11:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.61s (batch: 3.17s, save: 5.44s)	[pipeline.py: 300]
+05/13 23:11:16 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.25s:
+  episode_total: mean=72.44s, total=72.44s, count=1, min=72442.7ms, max=72442.7ms
+  sensor_polling: mean=156.9ms, total=41.25s, count=263, min=135.5ms, max=481.8ms
+  save_trajectories: mean=5.44s, total=5.44s, count=1, min=5443.7ms, max=5443.7ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3169.5ms, max=3169.5ms
+  physics_step: mean=10.0ms, total=2.63s, count=263, min=7.2ms, max=21.1ms
+  task_sampling: mean=248.5ms, total=248.5ms, count=1, min=248.5ms, max=248.5ms
+  task_specific_sample: mean=245.9ms, total=245.9ms, count=1, min=245.9ms, max=245.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=278.6us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  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=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:11:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:18 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]
+05/13 23:11:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:18 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]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136564m	[env.py: 870]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25031237 -0.93076969 -0.13656403] yaw=-31.0deg	[env.py: 1019]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41401831 -1.1219987  -0.13656403] yaw=-24.5deg	[env.py: 1019]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.9ms, total=136.9ms	[env.py: 1075]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -0.931, -0.137)	[env.py: 1079]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.0 deg	[env.py: 1082]
+05/13 23:11:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:18 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:20 INFO: [Worker 0] Feasibility-checked 237 grasps in 1.519s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:11:20 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144027m	[env.py: 870]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.70639011 -0.68958634 -0.14402748] yaw=-93.1deg	[env.py: 1019]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65613989 -0.90369518 -0.14402748] yaw=-63.0deg	[env.py: 1019]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57297371 -0.94022169 -0.14402748] yaw=-62.8deg	[env.py: 1019]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.6ms	[env.py: 1075]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.706, -0.690, -0.144)	[env.py: 1079]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.1 deg	[env.py: 1082]
+05/13 23:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:22 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:23 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.527s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:11:23 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194563m	[env.py: 870]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.76623141 -0.89200624 -0.19456287] yaw=-52.1deg	[env.py: 1019]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29224841 -1.20020747 -0.19456287] yaw=-24.0deg	[env.py: 1019]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35082543 -1.04459886 -0.19456287] yaw=-72.9deg	[env.py: 1019]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.0ms, total=126.0ms	[env.py: 1075]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.766, -0.892, -0.195)	[env.py: 1079]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg	[env.py: 1082]
+05/13 23:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:25 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:11:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:25 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 23:11:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:25 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:26 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.658[m] 87.657[deg]	[grasp_sample.py: 539]
+05/13 23:11:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:11:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:11:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.85s (batch: 3.17s, save: 4.68s)	[pipeline.py: 300]
+05/13 23:11:34 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:34 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=3.83s:
+  episode_total: mean=13.09s, total=196.33s, count=15, min=169.4ms, max=65168.5ms
+  sensor_polling: mean=148.6ms, total=94.19s, count=634, min=132.1ms, max=440.8ms
+  physics_step: mean=9.6ms, total=6.06s, count=634, min=7.6ms, max=16.6ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4675.4ms, max=4675.4ms
+  task_specific_sample: mean=277.9ms, total=4.17s, count=15, min=167.2ms, max=377.6ms
+  task_sampling: mean=294.9ms, total=3.83s, count=13, min=226.3ms, max=379.7ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3171.8ms, max=3171.8ms
+  task_sampling_failed: mean=185.1ms, total=370.3ms, count=2, min=169.4ms, max=200.9ms
+  scene_randomize: mean=939.6us, total=14.1ms, count=15, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=245.9us, total=3.7ms, count=15, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.4us, total=0.2ms, count=13, 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]
+05/13 23:11:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:35 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]
+05/13 23:11:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179705m	[env.py: 870]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10789406 -1.1957651  -0.17970493] yaw=-8.4deg	[env.py: 1019]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09155418 -1.12233613 -0.17970493] yaw=-52.1deg	[env.py: 1019]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.6ms, total=134.6ms	[env.py: 1075]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.108, -1.196, -0.180)	[env.py: 1079]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.4 deg	[env.py: 1082]
+05/13 23:11:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 23:11:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:36 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:36 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]
+05/13 23:11:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:37 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.512s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:11:37 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:11:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116338m	[env.py: 870]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38110843 -0.98590532 -0.11633834] yaw=-32.0deg	[env.py: 1019]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03831348 -1.23167049 -0.11633834] yaw=-15.5deg	[env.py: 1019]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57084939 -0.91479174 -0.11633834] yaw=-62.1deg	[env.py: 1019]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=123.0ms	[env.py: 1075]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -0.986, -0.116)	[env.py: 1079]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.0 deg	[env.py: 1082]
+05/13 23:11:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:39 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:39 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:11:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:39 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 23:11:41 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.589s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.726[m] 80.571[deg]	[grasp_sample.py: 539]
+05/13 23:11:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:46 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:11:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:11:46 INFO: [Worker 0] Preparing episode data: 288 timesteps	[save_utils.py: 278]
+05/13 23:11:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:11:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.40s (batch: 4.53s, save: 4.87s)	[pipeline.py: 300]
+05/13 23:11:50 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.21s:
+  episode_total: mean=28.60s, total=114.41s, count=4, min=191.6ms, max=76007.8ms
+  sensor_polling: mean=161.5ms, total=67.20s, count=416, min=133.2ms, max=387.6ms
+  save_trajectories: mean=4.87s, total=4.87s, count=1, min=4867.1ms, max=4867.1ms
+  save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4529.4ms, max=4529.4ms
+  physics_step: mean=10.0ms, total=4.14s, count=416, min=7.2ms, max=41.5ms
+  task_specific_sample: mean=346.1ms, total=1.38s, count=4, min=186.0ms, max=497.6ms
+  task_sampling: mean=403.2ms, total=1.21s, count=3, min=298.9ms, max=502.3ms
+  task_sampling_failed: mean=191.5ms, total=191.5ms, count=1, min=191.5ms, max=191.5ms
+  scene_randomize: mean=1.4ms, total=5.5ms, count=4, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=273.9us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=20.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:11:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:11:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119200m	[env.py: 870]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2668761  -1.15065358 -0.11919991] yaw=-39.6deg	[env.py: 1019]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15774502 -1.0867921  -0.11919991] yaw=-28.6deg	[env.py: 1019]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.771358   -0.92363312 -0.11919991] yaw=-74.2deg	[env.py: 1019]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=67.9ms, total=67.9ms	[env.py: 1075]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.151, -0.119)	[env.py: 1079]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 23:11:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:53 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:11:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:11:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.62s (batch: 2.92s, save: 4.70s)	[pipeline.py: 300]
+05/13 23:11:55 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.14s:
+  episode_total: mean=15.84s, total=79.21s, count=5, min=134.9ms, max=70660.1ms
+  sensor_polling: mean=151.5ms, total=43.48s, count=287, min=137.3ms, max=406.9ms
+  save_trajectories: mean=4.70s, total=4.70s, count=1, min=4701.0ms, max=4701.0ms
+  save_batch_prep: mean=2.92s, total=2.92s, count=1, min=2919.2ms, max=2919.2ms
+  physics_step: mean=9.7ms, total=2.79s, count=287, min=7.5ms, max=21.4ms
+  task_specific_sample: mean=252.4ms, total=1.26s, count=5, min=131.2ms, max=324.3ms
+  task_sampling: mean=284.5ms, total=1.14s, count=4, min=260.7ms, max=326.2ms
+  task_sampling_failed: mean=134.9ms, total=134.9ms, count=1, min=134.9ms, max=134.9ms
+  scene_randomize: mean=781.7us, total=3.9ms, count=5, min=0.7ms, max=0.8ms
+  mj_forward_sync: mean=259.8us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:11:55 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.667[m] 89.445[deg]	[grasp_sample.py: 539]
+05/13 23:11:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:55 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:11:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:11:55 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]
+05/13 23:11:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.078s, found 89 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:56 INFO: [Worker 0] Feasibility-checked 89 grasps in 0.479s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 1.152[deg]	[grasp_sample.py: 539]
+05/13 23:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114461m	[env.py: 870]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54958607 -0.92724002 -0.11446054] yaw=-52.5deg	[env.py: 1019]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:56 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]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.927, -0.114)	[env.py: 1079]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.5 deg	[env.py: 1082]
+05/13 23:11:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:57 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:11:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.508s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.689[m] 88.248[deg]	[grasp_sample.py: 539]
+05/13 23:11:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:10 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:12:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:12:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:12:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.073s, found 93 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:10 INFO: [Worker 0] Feasibility-checked 93 grasps in 0.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:10 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.040[m] 3.309[deg]	[grasp_sample.py: 539]
+05/13 23:12:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:18 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:12:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:31 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:12:31 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:12:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:12:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:12:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:12:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:12:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.24s (batch: 3.42s, save: 5.81s)	[pipeline.py: 300]
+05/13 23:12:41 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:12:41 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.84s:
+  episode_total: mean=26.56s, total=79.68s, count=3, min=1881.0ms, max=75841.6ms
+  sensor_polling: mean=153.6ms, total=46.08s, count=300, min=137.8ms, max=468.9ms
+  save_trajectories: mean=5.81s, total=5.81s, count=1, min=5814.2ms, max=5814.2ms
+  save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3422.1ms, max=3422.1ms
+  physics_step: mean=9.8ms, total=2.94s, count=300, min=7.9ms, max=19.0ms
+  task_sampling: mean=280.6ms, total=841.9ms, count=3, min=250.3ms, max=307.2ms
+  task_specific_sample: mean=278.4ms, total=835.2ms, count=3, min=248.3ms, max=304.6ms
+  scene_randomize: mean=994.9us, total=3.0ms, count=3, min=0.7ms, max=1.5ms
+  mj_forward_sync: mean=251.8us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169892m	[env.py: 870]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09984759 -1.25702107 -0.16989246] yaw=-31.3deg	[env.py: 1019]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10162279 -1.36803075 -0.16989246] yaw=2.3deg	[env.py: 1019]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.78558021 -0.74425286 -0.16989246] yaw=-85.9deg	[env.py: 1019]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.6ms, total=100.7ms	[env.py: 1075]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.100, -1.257, -0.170)	[env.py: 1079]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg	[env.py: 1082]
+05/13 23:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:43 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:12:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:44 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:12:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:12:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:12:45 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:12:46 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.911s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:46 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.692[m] 100.057[deg]	[grasp_sample.py: 539]
+05/13 23:12:46 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151294m	[env.py: 870]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15731104 -1.30432396 -0.15129357] yaw=-30.2deg	[env.py: 1019]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1831514  -1.13894692 -0.15129357] yaw=-20.8deg	[env.py: 1019]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50661981 -0.85288777 -0.15129357] yaw=-69.1deg	[env.py: 1019]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=88.9ms, total=88.9ms	[env.py: 1075]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.157, -1.304, -0.151)	[env.py: 1079]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.2 deg	[env.py: 1082]
+05/13 23:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:48 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:12:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:12:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:12:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.83s (batch: 3.37s, save: 5.46s)	[pipeline.py: 300]
+05/13 23:12:54 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:54 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.658[m] 92.792[deg]	[grasp_sample.py: 539]
+05/13 23:12:54 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.57s:
+  episode_total: mean=38.31s, total=76.61s, count=2, min=1911.9ms, max=74698.7ms
+  sensor_polling: mean=150.2ms, total=45.07s, count=300, min=133.5ms, max=409.0ms
+  save_trajectories: mean=5.46s, total=5.46s, count=1, min=5463.7ms, max=5463.7ms
+  save_batch_prep: mean=3.37s, total=3.37s, count=1, min=3367.1ms, max=3367.1ms
+  physics_step: mean=9.6ms, total=2.87s, count=300, min=7.7ms, max=16.7ms
+  task_sampling: mean=285.6ms, total=571.2ms, count=2, min=271.8ms, max=299.4ms
+  task_specific_sample: mean=282.9ms, total=565.8ms, count=2, min=269.0ms, max=296.8ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=1.0ms, max=1.6ms
+  mj_forward_sync: mean=341.6us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:12:54 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:12:54 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:12:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:12:54 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 23:12:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:12:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147805m	[env.py: 870]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64567349 -0.88307488 -0.14780505] yaw=-88.8deg	[env.py: 1019]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29682514 -1.07220632 -0.14780505] yaw=-58.7deg	[env.py: 1019]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.73018632 -0.86028583 -0.14780505] yaw=-84.9deg	[env.py: 1019]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=61.4ms, total=61.4ms	[env.py: 1075]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.883, -0.148)	[env.py: 1079]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.8 deg	[env.py: 1082]
+05/13 23:12:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:55 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:12:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:12:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127375m	[env.py: 870]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04406697 -1.12689811 -0.12737466] yaw=-8.5deg	[env.py: 1019]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64555971 -0.84531835 -0.12737466] yaw=-97.5deg	[env.py: 1019]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.5ms, total=125.5ms	[env.py: 1075]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -1.127, -0.127)	[env.py: 1079]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.5 deg	[env.py: 1082]
+05/13 23:12:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.089m	[env.py: 1086]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:56 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:12:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.050s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:58 INFO: [Worker 0] Feasibility-checked 228 grasps in 1.543s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:12:58 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:12:58 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:12:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:12:58 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 23:12:59 INFO: [Worker 0] Feasibility-checked 246 grasps in 3.583s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.649[m] 96.779[deg]	[grasp_sample.py: 539]
+05/13 23:12:59 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:12:59 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:12:59 INFO: [Worker 0] Worker 0 completed house 1: 19/24 successful episodes	[pipeline.py: 1323]
+05/13 23:12:59 INFO: [Worker 0] [PROFILE] House 1 complete: 19/24 successful, 24 episodes, total_time=2934.55s
+  House averages:
+  episode_total: mean=24.42s, total=1758.24s, count=72, min=103.6ms, max=86183.6ms
+  sensor_polling: mean=153.8ms, total=913.01s, count=5936, min=127.5ms, max=530.9ms
+  save_trajectories: mean=5.07s, total=96.41s, count=19, min=4494.6ms, max=5814.2ms
+  save_batch_prep: mean=3.14s, total=59.64s, count=19, min=2804.9ms, max=4570.1ms
+  physics_step: mean=9.8ms, total=58.13s, count=5936, min=6.2ms, max=37.1ms
+  task_sampling: mean=327.0ms, total=21.26s, count=65, min=141.1ms, max=3176.3ms
+  task_specific_sample: mean=273.3ms, total=19.68s, count=72, min=101.4ms, max=548.0ms
+  scene_load: mean=2.75s, total=2.75s, count=1, min=2746.6ms, max=2746.6ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1493.1ms, max=1493.1ms
+  task_sampling_failed: mean=195.2ms, total=1.37s, count=7, min=103.6ms, max=375.9ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.2ms, max=1030.2ms
+  compile_xml_load: mean=479.9ms, total=479.9ms, count=1, min=479.9ms, max=479.9ms
+  compile_mujoco: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms
+  scene_asset_install: mean=165.3ms, total=165.3ms, count=1, min=165.3ms, max=165.3ms
+  scene_randomize: mean=1.1ms, total=82.0ms, count=72, min=0.7ms, max=2.5ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_scene: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  mj_forward_sync: mean=270.5us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  policy_setup: mean=14.5us, total=0.9ms, count=65, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:12:59 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:12:59 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=2934.55s
+  Worker averages:
+  episode_total: mean=24.42s, total=1758.24s, count=72, min=103.6ms, max=86183.6ms
+  sensor_polling: mean=153.8ms, total=913.01s, count=5936, min=127.5ms, max=530.9ms
+  save_trajectories: mean=5.07s, total=96.41s, count=19, min=4494.6ms, max=5814.2ms
+  save_batch_prep: mean=3.14s, total=59.64s, count=19, min=2804.9ms, max=4570.1ms
+  physics_step: mean=9.8ms, total=58.13s, count=5936, min=6.2ms, max=37.1ms
+  task_sampling: mean=327.0ms, total=21.26s, count=65, min=141.1ms, max=3176.3ms
+  task_specific_sample: mean=273.3ms, total=19.68s, count=72, min=101.4ms, max=548.0ms
+  scene_load: mean=2.75s, total=2.75s, count=1, min=2746.6ms, max=2746.6ms
+  scene_env_create: mean=1.49s, total=1.49s, count=1, min=1493.1ms, max=1493.1ms
+  task_sampling_failed: mean=195.2ms, total=1.37s, count=7, min=103.6ms, max=375.9ms
+  scene_compile: mean=1.03s, total=1.03s, count=1, min=1030.2ms, max=1030.2ms
+  compile_xml_load: mean=479.9ms, total=479.9ms, count=1, min=479.9ms, max=479.9ms
+  compile_mujoco: mean=454.9ms, total=454.9ms, count=1, min=454.9ms, max=454.9ms
+  scene_asset_install: mean=165.3ms, total=165.3ms, count=1, min=165.3ms, max=165.3ms
+  scene_randomize: mean=1.1ms, total=82.0ms, count=72, min=0.7ms, max=2.5ms
+  asset_install_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_scene: mean=55.8ms, total=55.8ms, count=1, min=55.8ms, max=55.8ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=31.7ms, total=31.7ms, count=1, min=31.7ms, max=31.7ms
+  mj_forward_sync: mean=270.5us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  policy_setup: mean=14.5us, total=0.9ms, count=65, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:13:00 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157873m	[env.py: 870]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21293426 -1.3309905  -0.15787264] yaw=-22.9deg	[env.py: 1019]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.91053372 -0.77789517 -0.15787264] yaw=-116.0deg	[env.py: 1019]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.1ms, total=253.1ms	[env.py: 1075]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.331, -0.158)	[env.py: 1079]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.9 deg	[env.py: 1082]
+05/13 23:13:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:01 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:13:01 INFO: Success count: 19, Total count: 24	[pipeline.py: 1491]
+05/13 23:13:01 INFO: Success rate: 79.17%	[pipeline.py: 1492]
+05/13 23:13:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:01 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:13:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:13:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.46s (batch: 3.78s, save: 4.68s)	[pipeline.py: 300]
+05/13 23:13:03 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.24s:
+  episode_total: mean=70.83s, total=70.83s, count=1, min=70829.4ms, max=70829.4ms
+  sensor_polling: mean=155.2ms, total=41.89s, count=270, min=139.9ms, max=352.1ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4676.8ms, max=4676.8ms
+  save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3780.1ms, max=3780.1ms
+  physics_step: mean=9.9ms, total=2.66s, count=270, min=7.8ms, max=16.3ms
+  task_sampling: mean=240.1ms, total=240.1ms, count=1, min=240.1ms, max=240.1ms
+  task_specific_sample: mean=235.4ms, total=235.4ms, count=1, min=235.4ms, max=235.4ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=323.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=28.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:13:05 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:05 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.568[m] 89.986[deg]	[grasp_sample.py: 539]
+05/13 23:13:05 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167565m	[env.py: 870]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.57292182 -0.73606925 -0.16756508] yaw=-97.0deg	[env.py: 1019]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17646378 -1.34052166 -0.16756508] yaw=-30.6deg	[env.py: 1019]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.4ms, total=126.5ms	[env.py: 1075]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.736, -0.168)	[env.py: 1079]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.0 deg	[env.py: 1082]
+05/13 23:13:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m	[env.py: 1086]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:13:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:06 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:13:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.86s (batch: 3.04s, save: 4.82s)	[pipeline.py: 300]
+05/13 23:13:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:06 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.38s:
+  episode_total: mean=70.16s, total=70.16s, count=1, min=70161.3ms, max=70161.3ms
+  sensor_polling: mean=149.3ms, total=41.06s, count=275, min=134.6ms, max=336.8ms
+  save_trajectories: mean=4.82s, total=4.82s, count=1, min=4821.4ms, max=4821.4ms
+  save_batch_prep: mean=3.04s, total=3.04s, count=1, min=3037.0ms, max=3037.0ms
+  physics_step: mean=9.7ms, total=2.68s, count=275, min=7.8ms, max=16.3ms
+  task_sampling: mean=378.7ms, total=378.7ms, count=1, min=378.7ms, max=378.7ms
+  task_specific_sample: mean=376.1ms, total=376.1ms, count=1, min=376.1ms, max=376.1ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=246.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:13:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:07 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]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144930m	[env.py: 870]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29760884 -0.91690765 -0.14493014] yaw=-42.5deg	[env.py: 1019]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=126.7ms, total=126.7ms	[env.py: 1075]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.917, -0.145)	[env.py: 1079]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg	[env.py: 1082]
+05/13 23:13:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:07 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:07 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.474s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:13:07 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:08 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]
+05/13 23:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145539m	[env.py: 870]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45597227 -0.99534257 -0.14553854] yaw=-70.3deg	[env.py: 1019]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22598262 -1.09849356 -0.14553854] yaw=-37.7deg	[env.py: 1019]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.3ms, total=129.4ms	[env.py: 1075]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.995, -0.146)	[env.py: 1079]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.3 deg	[env.py: 1082]
+05/13 23:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:08 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.482s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:13:09 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:13:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:09 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]
+05/13 23:13:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148955m	[env.py: 870]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19152863 -0.95062883 -0.14895456] yaw=-56.0deg	[env.py: 1019]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38948465 -1.0382939  -0.14895456] yaw=-31.0deg	[env.py: 1019]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03842745 -1.27475541 -0.14895456] yaw=-23.7deg	[env.py: 1019]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.1ms, total=102.1ms	[env.py: 1075]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -0.951, -0.149)	[env.py: 1079]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg	[env.py: 1082]
+05/13 23:13:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:10 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:10 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:13:10 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:13:10 INFO: [Worker 0] Worker 0 completed house 1: 17/21 successful episodes	[pipeline.py: 1323]
+05/13 23:13:10 INFO: [Worker 0] [PROFILE] House 1 complete: 17/21 successful, 21 episodes, total_time=2896.19s
+  House averages:
+  episode_total: mean=24.48s, total=1762.57s, count=72, min=138.4ms, max=122148.9ms
+  sensor_polling: mean=150.5ms, total=880.74s, count=5854, min=129.1ms, max=456.1ms
+  save_trajectories: mean=4.91s, total=83.46s, count=17, min=4635.1ms, max=5500.2ms
+  save_batch_prep: mean=3.32s, total=56.51s, count=17, min=2970.8ms, max=4991.9ms
+  physics_step: mean=9.6ms, total=56.35s, count=5854, min=6.3ms, max=27.9ms
+  task_sampling: mean=394.0ms, total=24.82s, count=63, min=191.2ms, max=3160.3ms
+  task_specific_sample: mean=326.3ms, total=23.50s, count=72, min=132.5ms, max=711.3ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2681.3ms, max=2681.3ms
+  task_sampling_failed: mean=172.6ms, total=1.55s, count=9, min=138.4ms, max=314.5ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1446.7ms, max=1446.7ms
+  scene_compile: mean=1.10s, total=1.10s, count=1, min=1104.3ms, max=1104.3ms
+  compile_xml_load: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms
+  compile_mujoco: mean=436.6ms, total=436.6ms, count=1, min=436.6ms, max=436.6ms
+  scene_randomize: mean=1.1ms, total=79.1ms, count=72, min=0.6ms, max=2.2ms
+  scene_asset_install: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_init: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  compile_aux_policy_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=22.4ms, total=22.4ms, count=1, min=22.4ms, max=22.4ms
+  mj_forward_sync: mean=262.5us, total=18.9ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=17.2us, total=1.1ms, count=63, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:13:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:13:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 21 episodes, total_time=2896.19s
+  Worker averages:
+  episode_total: mean=24.48s, total=1762.57s, count=72, min=138.4ms, max=122148.9ms
+  sensor_polling: mean=150.5ms, total=880.74s, count=5854, min=129.1ms, max=456.1ms
+  save_trajectories: mean=4.91s, total=83.46s, count=17, min=4635.1ms, max=5500.2ms
+  save_batch_prep: mean=3.32s, total=56.51s, count=17, min=2970.8ms, max=4991.9ms
+  physics_step: mean=9.6ms, total=56.35s, count=5854, min=6.3ms, max=27.9ms
+  task_sampling: mean=394.0ms, total=24.82s, count=63, min=191.2ms, max=3160.3ms
+  task_specific_sample: mean=326.3ms, total=23.50s, count=72, min=132.5ms, max=711.3ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2681.3ms, max=2681.3ms
+  task_sampling_failed: mean=172.6ms, total=1.55s, count=9, min=138.4ms, max=314.5ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1446.7ms, max=1446.7ms
+  scene_compile: mean=1.10s, total=1.10s, count=1, min=1104.3ms, max=1104.3ms
+  compile_xml_load: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms
+  compile_mujoco: mean=436.6ms, total=436.6ms, count=1, min=436.6ms, max=436.6ms
+  scene_randomize: mean=1.1ms, total=79.1ms, count=72, min=0.6ms, max=2.2ms
+  scene_asset_install: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_init: mean=58.0ms, total=58.0ms, count=1, min=58.0ms, max=58.0ms
+  compile_aux_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  compile_aux_policy_objects: mean=55.5ms, total=55.5ms, count=1, min=55.5ms, max=55.5ms
+  asset_install_grasps: mean=45.4ms, total=45.4ms, count=1, min=45.4ms, max=45.4ms
+  compile_robot_add: mean=31.4ms, total=31.4ms, count=1, min=31.4ms, max=31.4ms
+  asset_install_objects: mean=22.4ms, total=22.4ms, count=1, min=22.4ms, max=22.4ms
+  mj_forward_sync: mean=262.5us, total=18.9ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_scene: mean=4.2ms, total=4.2ms, count=1, min=4.2ms, max=4.2ms
+  policy_setup: mean=17.2us, total=1.1ms, count=63, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:13:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.482s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:13:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.828s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:11 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.642[m] 92.464[deg]	[grasp_sample.py: 539]
+05/13 23:13:12 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:12 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:13:12 INFO: Success count: 17, Total count: 21	[pipeline.py: 1491]
+05/13 23:13:12 INFO: Success rate: 80.95%	[pipeline.py: 1492]
+05/13 23:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127424m	[env.py: 870]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193386m	[env.py: 870]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59129919 -0.937003   -0.12742393] yaw=-69.5deg	[env.py: 1019]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -138.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2320828  -0.95589926 -0.19338626] yaw=-29.6deg	[env.py: 1019]
+05/13 23:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31702236 -1.18047012 -0.19338626] yaw=-67.1deg	[env.py: 1019]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=410.7ms, total=410.7ms	[env.py: 1075]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -0.937, -0.127)	[env.py: 1079]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg	[env.py: 1082]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=414.3ms, total=414.4ms	[env.py: 1075]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.956, -0.193)	[env.py: 1079]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.6 deg	[env.py: 1082]
+05/13 23:13:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.057m	[env.py: 1086]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:14 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:14 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]
+05/13 23:13:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:14 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:14 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]
+05/13 23:13:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.527s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:15 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.671[m] 92.156[deg]	[grasp_sample.py: 539]
+05/13 23:13:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.553s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:13:15 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:13:16 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163099m	[env.py: 870]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28577541 -1.00734234 -0.16309863] yaw=-30.2deg	[env.py: 1019]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15965274 -1.24898994 -0.16309863] yaw=-34.2deg	[env.py: 1019]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=117.4ms, total=117.4ms	[env.py: 1075]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.007, -0.163)	[env.py: 1079]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.2 deg	[env.py: 1082]
+05/13 23:13:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:17 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:13:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134199m	[env.py: 870]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85126458 -0.84430552 -0.1341988 ] yaw=-70.9deg	[env.py: 1019]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=352.1ms, total=352.1ms	[env.py: 1075]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.851, -0.844, -0.134)	[env.py: 1079]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg	[env.py: 1082]
+05/13 23:13:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:18 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:19 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.495s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:19 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.734[m] 81.480[deg]	[grasp_sample.py: 539]
+05/13 23:13:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:13:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:13:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:13:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.679[m] 95.619[deg]	[grasp_sample.py: 539]
+05/13 23:13:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:13:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:13:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:13:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:13:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:13:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.314s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:33 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.496[m] 64.535[deg]	[grasp_sample.py: 539]
+05/13 23:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:13:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:13:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:13:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:13:35 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]
+05/13 23:13:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:13:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112193m	[env.py: 870]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:13:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44496809 -1.04599479 -0.11219268] yaw=-27.4deg	[env.py: 1019]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86608481 -0.74310979 -0.11219268] yaw=-83.5deg	[env.py: 1019]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:13:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms	[env.py: 1075]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -1.046, -0.112)	[env.py: 1079]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg	[env.py: 1082]
+05/13 23:13:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:13:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:13:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:13:35 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:13:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:13:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:37 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.652[m] 81.848[deg]	[grasp_sample.py: 539]
+05/13 23:13:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:13:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:13:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:13:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:13:45 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:13:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:13:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:13:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:13:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.077s, found 44 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:13:47 INFO: [Worker 0] Feasibility-checked 44 grasps in 1.475s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:13:47 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.055[m] 4.871[deg]	[grasp_sample.py: 539]
+05/13 23:13:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:13:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:13:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:13:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:14:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:07 INFO: [Worker 0] Worker 0 house 1 episode 69 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:14:20 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:14:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:14:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:14:20 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:14:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:14:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:14:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.10s (batch: 3.00s, save: 5.10s)	[pipeline.py: 300]
+05/13 23:14:29 INFO: [Worker 0] [PROFILE] Episode 69 house 1 success=True episode_total=1.11s:
+  episode_total: mean=25.93s, total=77.79s, count=3, min=2198.9ms, max=71866.9ms
+  sensor_polling: mean=142.0ms, total=42.60s, count=300, min=131.7ms, max=152.6ms
+  save_trajectories: mean=5.10s, total=5.10s, count=1, min=5100.1ms, max=5100.1ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=2997.8ms, max=2997.8ms
+  physics_step: mean=9.2ms, total=2.76s, count=300, min=7.3ms, max=28.6ms
+  task_sampling: mean=369.5ms, total=1.11s, count=3, min=253.0ms, max=564.5ms
+  task_specific_sample: mean=367.1ms, total=1.10s, count=3, min=250.8ms, max=561.7ms
+  scene_randomize: mean=1.2ms, total=3.5ms, count=3, min=1.0ms, max=1.5ms
+  mj_forward_sync: mean=288.3us, total=0.9ms, count=3, min=0.2ms, max=0.4ms
+  policy_setup: mean=13.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:14:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:14:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126560m	[env.py: 870]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55460351 -0.97937977 -0.12655959] yaw=-87.2deg	[env.py: 1019]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.80072857 -0.71882074 -0.12655959] yaw=-97.6deg	[env.py: 1019]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.01042966 -1.26399006 -0.12655959] yaw=-41.4deg	[env.py: 1019]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=62.6ms, total=62.6ms	[env.py: 1075]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.979, -0.127)	[env.py: 1079]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.2 deg	[env.py: 1082]
+05/13 23:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:30 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:30 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]
+05/13 23:14:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.991s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.705[m] 92.650[deg]	[grasp_sample.py: 539]
+05/13 23:14:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:14:33 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:14:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:14:33 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 23:14:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:14:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:14:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.15s (batch: 3.65s, save: 4.50s)	[pipeline.py: 300]
+05/13 23:14:42 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.97s:
+  episode_total: mean=17.79s, total=88.97s, count=5, min=1837.6ms, max=67230.5ms
+  sensor_polling: mean=146.0ms, total=46.72s, count=320, min=135.1ms, max=385.8ms
+  save_trajectories: mean=4.50s, total=4.50s, count=1, min=4500.3ms, max=4500.3ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3647.4ms, max=3647.4ms
+  physics_step: mean=9.3ms, total=2.96s, count=320, min=7.4ms, max=12.6ms
+  task_sampling: mean=394.8ms, total=1.97s, count=5, min=270.0ms, max=554.0ms
+  task_specific_sample: mean=392.5ms, total=1.96s, count=5, min=267.3ms, max=551.9ms
+  scene_randomize: mean=1.0ms, total=5.0ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=255.2us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.6us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:14:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:14:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156132m	[env.py: 870]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68609034 -0.7981835  -0.15613197] yaw=-49.7deg	[env.py: 1019]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=477.5ms, total=477.5ms	[env.py: 1075]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.686, -0.798, -0.156)	[env.py: 1079]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg	[env.py: 1082]
+05/13 23:14:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 23:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:45 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:14:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.111s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:47 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.761[m] 82.192[deg]	[grasp_sample.py: 539]
+05/13 23:14:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:14:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:14:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:14:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:14:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:14:53 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]
+05/13 23:14:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:53 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.124[m] 18.023[deg]	[grasp_sample.py: 539]
+05/13 23:14:54 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172771m	[env.py: 870]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5491845  -0.92678742 -0.17277058] yaw=-53.6deg	[env.py: 1019]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.6ms, total=119.7ms	[env.py: 1075]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.549, -0.927, -0.173)	[env.py: 1079]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/13 23:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:56 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:14:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.636[m] 81.047[deg]	[grasp_sample.py: 539]
+05/13 23:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:15:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:15:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:15:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:15:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:15:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:15:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:15:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:15:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:32 INFO: [Worker 0] Feasibility-checked 242 grasps in 17.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:15:32 INFO: [Worker 0] Feasible grasp found 10 (originally 10): w/ 0.080[m] 18.977[deg]	[grasp_sample.py: 539]
+05/13 23:15:33 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:15:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:15:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:15:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:15:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:15:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:15:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:15:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124998m	[env.py: 870]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:15:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=339.8ms, total=339.9ms	[env.py: 1105]
+05/13 23:15:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:15:35 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:15:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:15:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:15:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:15:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:15:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:15:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:15:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105088m	[env.py: 870]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:15:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23644572 -1.22209176 -0.10508813] yaw=-59.6deg	[env.py: 1019]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23873094 -0.95859423 -0.10508813] yaw=-23.9deg	[env.py: 1019]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21792656 -1.11264872 -0.10508813] yaw=-21.7deg	[env.py: 1019]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:15:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.222, -0.105)	[env.py: 1079]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.6 deg	[env.py: 1082]
+05/13 23:15:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:15:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:15:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:15:37 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:15:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:15:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:15:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:15:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:15:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.577s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:15:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.722[m] 86.547[deg]	[grasp_sample.py: 539]
+05/13 23:15:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:15:38 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:15:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:15:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:51 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:15:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:15:51 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 23:15:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:15:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:15:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 7.35s (batch: 2.79s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:15:59 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.48s:
+  episode_total: mean=43.40s, total=86.81s, count=2, min=23787.5ms, max=63020.0ms
+  sensor_polling: mean=140.2ms, total=53.54s, count=382, min=129.1ms, max=450.7ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4556.3ms, max=4556.3ms
+  physics_step: mean=9.0ms, total=3.44s, count=382, min=7.2ms, max=11.1ms
+  save_batch_prep: mean=2.79s, total=2.79s, count=1, min=2789.8ms, max=2789.8ms
+  task_sampling: mean=241.5ms, total=482.9ms, count=2, min=219.9ms, max=263.0ms
+  task_specific_sample: mean=239.1ms, total=478.2ms, count=2, min=217.4ms, max=260.8ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=240.5us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=12.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:15:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:00 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:16:00 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:16:00 INFO: [Worker 0] Worker 0 completed house 1: 17/23 successful episodes	[pipeline.py: 1323]
+05/13 23:16:00 INFO: [Worker 0] [PROFILE] House 1 complete: 17/23 successful, 23 episodes, total_time=3110.93s
+  House averages:
+  episode_total: mean=26.78s, total=1928.03s, count=72, min=134.9ms, max=120832.0ms
+  sensor_polling: mean=151.2ms, total=934.59s, count=6183, min=129.1ms, max=495.7ms
+  save_trajectories: mean=4.80s, total=81.54s, count=17, min=4327.7ms, max=5344.8ms
+  physics_step: mean=9.6ms, total=59.16s, count=6183, min=6.2ms, max=33.6ms
+  save_batch_prep: mean=3.41s, total=57.95s, count=17, min=2789.8ms, max=4995.5ms
+  task_sampling: mean=334.1ms, total=22.72s, count=68, min=182.4ms, max=1718.8ms
+  task_specific_sample: mean=308.3ms, total=22.19s, count=72, min=131.2ms, max=710.8ms
+  scene_load: mean=1.47s, total=1.47s, count=1, min=1470.3ms, max=1470.3ms
+  task_sampling_failed: mean=282.4ms, total=1.13s, count=4, min=134.9ms, max=718.2ms
+  scene_env_create: mean=856.1ms, total=856.1ms, count=1, min=856.1ms, max=856.1ms
+  scene_compile: mean=529.2ms, total=529.2ms, count=1, min=529.2ms, max=529.2ms
+  compile_mujoco: mean=353.3ms, total=353.3ms, count=1, min=353.3ms, max=353.3ms
+  compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_randomize: mean=1.1ms, total=80.1ms, count=72, min=0.6ms, max=2.6ms
+  scene_init: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  compile_aux_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  compile_aux_policy_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  mj_forward_sync: mean=263.5us, total=19.0ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
+  asset_install_objects: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms
+  compile_robot_add: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  asset_install_scene: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  policy_setup: mean=16.9us, total=1.1ms, count=68, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:16:00 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:16:00 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 23 episodes, total_time=3110.93s
+  Worker averages:
+  episode_total: mean=26.78s, total=1928.03s, count=72, min=134.9ms, max=120832.0ms
+  sensor_polling: mean=151.2ms, total=934.59s, count=6183, min=129.1ms, max=495.7ms
+  save_trajectories: mean=4.80s, total=81.54s, count=17, min=4327.7ms, max=5344.8ms
+  physics_step: mean=9.6ms, total=59.16s, count=6183, min=6.2ms, max=33.6ms
+  save_batch_prep: mean=3.41s, total=57.95s, count=17, min=2789.8ms, max=4995.5ms
+  task_sampling: mean=334.1ms, total=22.72s, count=68, min=182.4ms, max=1718.8ms
+  task_specific_sample: mean=308.3ms, total=22.19s, count=72, min=131.2ms, max=710.8ms
+  scene_load: mean=1.47s, total=1.47s, count=1, min=1470.3ms, max=1470.3ms
+  task_sampling_failed: mean=282.4ms, total=1.13s, count=4, min=134.9ms, max=718.2ms
+  scene_env_create: mean=856.1ms, total=856.1ms, count=1, min=856.1ms, max=856.1ms
+  scene_compile: mean=529.2ms, total=529.2ms, count=1, min=529.2ms, max=529.2ms
+  compile_mujoco: mean=353.3ms, total=353.3ms, count=1, min=353.3ms, max=353.3ms
+  compile_xml_load: mean=132.0ms, total=132.0ms, count=1, min=132.0ms, max=132.0ms
+  scene_randomize: mean=1.1ms, total=80.1ms, count=72, min=0.6ms, max=2.6ms
+  scene_init: mean=57.1ms, total=57.1ms, count=1, min=57.1ms, max=57.1ms
+  compile_aux_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  compile_aux_policy_objects: mean=32.5ms, total=32.5ms, count=1, min=32.5ms, max=32.5ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  mj_forward_sync: mean=263.5us, total=19.0ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=18.5ms, total=18.5ms, count=1, min=18.5ms, max=18.5ms
+  asset_install_objects: mean=7.4ms, total=7.4ms, count=1, min=7.4ms, max=7.4ms
+  compile_robot_add: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms
+  asset_install_scene: mean=1.9ms, total=1.9ms, count=1, min=1.9ms, max=1.9ms
+  policy_setup: mean=16.9us, total=1.1ms, count=68, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:16:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:16:02 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:16:02 INFO: Success count: 17, Total count: 23	[pipeline.py: 1491]
+05/13 23:16:02 INFO: Success rate: 73.91%	[pipeline.py: 1492]
+05/13 23:16:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:21 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:16:35 INFO: [Worker 0] Saved videos eagerly for episode 23 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:16:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:16:35 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 23:16:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:16:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:16:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 9.39s (batch: 4.50s, save: 4.88s)	[pipeline.py: 300]
+05/13 23:16:45 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.99s:
+  episode_total: mean=38.92s, total=116.77s, count=3, min=352.7ms, max=68078.2ms
+  sensor_polling: mean=142.7ms, total=60.65s, count=425, min=130.6ms, max=374.6ms
+  save_trajectories: mean=4.88s, total=4.88s, count=1, min=4883.7ms, max=4883.7ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4502.2ms, max=4502.2ms
+  physics_step: mean=9.1ms, total=3.87s, count=425, min=7.3ms, max=12.8ms
+  task_specific_sample: mean=441.8ms, total=1.33s, count=3, min=332.6ms, max=649.6ms
+  task_sampling: mean=493.9ms, total=987.9ms, count=2, min=335.5ms, max=652.4ms
+  task_sampling_failed: mean=352.7ms, total=352.7ms, count=1, min=352.7ms, max=352.7ms
+  scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=253.5us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.0us, 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]
+05/13 23:16:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:16:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:16:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:16:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:16:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:16:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153622m	[env.py: 870]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:16:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23536418 -1.1282621  -0.15362196] yaw=-35.9deg	[env.py: 1019]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32259531 -0.87271758 -0.15362196] yaw=-39.3deg	[env.py: 1019]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51313295 -0.98506027 -0.15362196] yaw=-85.9deg	[env.py: 1019]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:16:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=219.9ms, total=219.9ms	[env.py: 1075]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.128, -0.154)	[env.py: 1079]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg	[env.py: 1082]
+05/13 23:16:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:16:47 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:16:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:16:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:16:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:16:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:16:49 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.600s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:16:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.674[m] 86.381[deg]	[grasp_sample.py: 539]
+05/13 23:16:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:16:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:16:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:17:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:16 INFO: [Worker 0] Object is not in grasp! 0.00144 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:17:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:17:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.074s, found 101 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:18 INFO: [Worker 0] Feasibility-checked 101 grasps in 1.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:18 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.292[deg]	[grasp_sample.py: 539]
+05/13 23:17:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:17:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:17:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:17:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:38 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:17:52 INFO: [Worker 0] Saved videos eagerly for episode 24 to /scr/ravenh/3drawers/sim_chunks/chunk_055	[pipeline.py: 1174]
+05/13 23:17:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:17:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:18:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:18:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_055	[save_utils.py: 785]
+05/13 23:18:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 8.81s (batch: 3.56s, save: 5.25s)	[pipeline.py: 300]
+05/13 23:18:02 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.41s:
+  episode_total: mean=75.18s, total=75.18s, count=1, min=75178.3ms, max=75178.3ms
+  sensor_polling: mean=143.8ms, total=43.14s, count=300, min=134.5ms, max=383.5ms
+  save_trajectories: mean=5.25s, total=5.25s, count=1, min=5253.6ms, max=5253.6ms
+  save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3558.2ms, max=3558.2ms
+  physics_step: mean=9.3ms, total=2.78s, count=300, min=7.3ms, max=22.1ms
+  task_sampling: mean=414.6ms, total=414.6ms, count=1, min=414.6ms, max=414.6ms
+  task_specific_sample: mean=411.8ms, total=411.8ms, count=1, min=411.8ms, max=411.8ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=245.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:18:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:18:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126674m	[env.py: 870]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.85715674 -0.83436755 -0.12667376] yaw=-92.2deg	[env.py: 1019]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23770774 -1.18128621 -0.12667376] yaw=-19.2deg	[env.py: 1019]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=90.1ms, total=90.1ms	[env.py: 1075]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.857, -0.834, -0.127)	[env.py: 1079]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.2 deg	[env.py: 1082]
+05/13 23:18:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m	[env.py: 1086]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:04 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:05 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:05 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.704[m] 102.368[deg]	[grasp_sample.py: 539]
+05/13 23:18:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:18:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:18:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:18:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.037s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:18 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.750s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:18 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.549[m] 73.701[deg]	[grasp_sample.py: 539]
+05/13 23:18:19 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:18:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:18:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:20 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]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156685m	[env.py: 870]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23168971 -0.90528324 -0.15668459] yaw=-35.5deg	[env.py: 1019]
+05/13 23:18:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32168221 -0.91860071 -0.15668459] yaw=-76.3deg	[env.py: 1019]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.2ms, total=124.2ms	[env.py: 1075]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.905, -0.157)	[env.py: 1079]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg	[env.py: 1082]
+05/13 23:18:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 23:18:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:21 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:22 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:18:22 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:18:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:18:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181215m	[env.py: 870]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12666539 -1.347607   -0.18121511] yaw=-39.4deg	[env.py: 1019]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.63376909 -0.92129183 -0.18121511] yaw=-77.2deg	[env.py: 1019]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms	[env.py: 1075]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.127, -1.348, -0.181)	[env.py: 1079]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg	[env.py: 1082]
+05/13 23:18:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:24 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:30 INFO: [Worker 0] Feasibility-checked 244 grasps in 5.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:30 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.678[m] 85.552[deg]	[grasp_sample.py: 539]
+05/13 23:18:31 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:18:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:18:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197698m	[env.py: 870]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14138395 -1.31915318 -0.1976977 ] yaw=-30.6deg	[env.py: 1019]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69198478 -0.93168748 -0.1976977 ] yaw=-97.3deg	[env.py: 1019]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=120.1ms, total=120.1ms	[env.py: 1075]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.319, -0.198)	[env.py: 1079]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.6 deg	[env.py: 1082]
+05/13 23:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:33 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:37 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:37 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.603[m] 79.355[deg]	[grasp_sample.py: 539]
+05/13 23:18:37 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:18:39 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:18:39 WARNING: [Worker 0] No trajectory data to save for chunk_055	[pipeline.py: 234]
+05/13 23:18:39 INFO: [Worker 0] Worker 0 completed house 1: 25/25 successful episodes	[pipeline.py: 1323]
+05/13 23:18:39 INFO: [Worker 0] [PROFILE] House 1 complete: 25/25 successful, 25 episodes, total_time=3534.61s
+  House averages:
+  episode_total: mean=28.62s, total=2060.65s, count=72, min=91.5ms, max=90937.3ms
+  sensor_polling: mean=155.3ms, total=1127.77s, count=7264, min=129.9ms, max=463.4ms
+  save_trajectories: mean=4.86s, total=121.61s, count=25, min=4481.8ms, max=5461.5ms
+  save_batch_prep: mean=3.98s, total=99.46s, count=25, min=3025.2ms, max=5877.0ms
+  physics_step: mean=9.8ms, total=71.45s, count=7264, min=7.2ms, max=66.3ms
+  task_sampling: mean=383.3ms, total=23.38s, count=61, min=192.3ms, max=3092.6ms
+  task_specific_sample: mean=304.6ms, total=21.93s, count=72, min=87.7ms, max=649.6ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2734.7ms, max=2734.7ms
+  task_sampling_failed: mean=135.8ms, total=1.49s, count=11, min=91.5ms, max=352.7ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms
+  scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.1ms, max=1155.1ms
+  compile_xml_load: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms
+  compile_mujoco: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
+  scene_randomize: mean=1.3ms, total=93.4ms, count=72, min=0.6ms, max=3.6ms
+  scene_asset_install: mean=70.0ms, total=70.0ms, count=1, min=70.0ms, max=70.0ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  mj_forward_sync: mean=271.1us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=20.1us, total=1.2ms, count=61, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:18:39 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:18:39 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 25 episodes, total_time=3534.61s
+  Worker averages:
+  episode_total: mean=28.62s, total=2060.65s, count=72, min=91.5ms, max=90937.3ms
+  sensor_polling: mean=155.3ms, total=1127.77s, count=7264, min=129.9ms, max=463.4ms
+  save_trajectories: mean=4.86s, total=121.61s, count=25, min=4481.8ms, max=5461.5ms
+  save_batch_prep: mean=3.98s, total=99.46s, count=25, min=3025.2ms, max=5877.0ms
+  physics_step: mean=9.8ms, total=71.45s, count=7264, min=7.2ms, max=66.3ms
+  task_sampling: mean=383.3ms, total=23.38s, count=61, min=192.3ms, max=3092.6ms
+  task_specific_sample: mean=304.6ms, total=21.93s, count=72, min=87.7ms, max=649.6ms
+  scene_load: mean=2.73s, total=2.73s, count=1, min=2734.7ms, max=2734.7ms
+  task_sampling_failed: mean=135.8ms, total=1.49s, count=11, min=91.5ms, max=352.7ms
+  scene_env_create: mean=1.45s, total=1.45s, count=1, min=1451.7ms, max=1451.7ms
+  scene_compile: mean=1.16s, total=1.16s, count=1, min=1155.1ms, max=1155.1ms
+  compile_xml_load: mean=628.9ms, total=628.9ms, count=1, min=628.9ms, max=628.9ms
+  compile_mujoco: mean=432.3ms, total=432.3ms, count=1, min=432.3ms, max=432.3ms
+  scene_randomize: mean=1.3ms, total=93.4ms, count=72, min=0.6ms, max=3.6ms
+  scene_asset_install: mean=70.0ms, total=70.0ms, count=1, min=70.0ms, max=70.0ms
+  scene_init: mean=57.7ms, total=57.7ms, count=1, min=57.7ms, max=57.7ms
+  asset_install_grasps: mean=55.9ms, total=55.9ms, count=1, min=55.9ms, max=55.9ms
+  compile_aux_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_aux_policy_objects: mean=54.6ms, total=54.6ms, count=1, min=54.6ms, max=54.6ms
+  compile_robot_add: mean=31.5ms, total=31.5ms, count=1, min=31.5ms, max=31.5ms
+  mj_forward_sync: mean=271.1us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_objects: mean=11.1ms, total=11.1ms, count=1, min=11.1ms, max=11.1ms
+  asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  policy_setup: mean=20.1us, total=1.2ms, count=61, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:18:42 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:18:42 INFO: Success count: 25, Total count: 25	[pipeline.py: 1491]
+05/13 23:18:42 INFO: Success rate: 100.00%	[pipeline.py: 1492]
diff --git a/3drawers/sim_chunks/chunk_055/trajectories_batch_1_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_055/trajectories_batch_1_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc162ef6905a4d7712b4d2cf74151a0ea853f96c
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/trajectories_batch_1_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c001b068416f8af18df5479bf30a56671b67212aab1f949095866d2135911434
+size 1148957951
diff --git a/3drawers/sim_chunks/chunk_055/trajectories_batch_2_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_055/trajectories_batch_2_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89ad8d3ced8aeed2b036799484e5e1565de025f4
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/trajectories_batch_2_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836caa9375f5ddce55d5647467708d6b2cccfa2a6d0b53763cbb69196ae01ea6
+size 1704828587
diff --git a/3drawers/sim_chunks/chunk_055/trajectories_batch_3_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_055/trajectories_batch_3_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..451871df06c5a68de447ab5bc7264f1f11d504bb
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/trajectories_batch_3_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52e4e7f54d481145c97a00af2e5b439c3932d86ff1961cf937173f95545aec0
+size 1185552912
diff --git a/3drawers/sim_chunks/chunk_055/trajectories_batch_4_of_4_cam_rand.h5 b/3drawers/sim_chunks/chunk_055/trajectories_batch_4_of_4_cam_rand.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e597953ffb7188ccfa0768923246c7f933025990
--- /dev/null
+++ b/3drawers/sim_chunks/chunk_055/trajectories_batch_4_of_4_cam_rand.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549309e9fdef79383e96961d285a3a495d2ec8131b00e9a14ee1984858ed82a3
+size 1294589858