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+05/13 23:20:21 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 23:20:21 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 23:20:21 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 23:20:21 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_056'),
+ '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 0x6a3a00bfdd0>,
+ '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': 50027,
+ '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 23:20:21 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 23:20:21 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 23:20:21 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 23:20:21 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 23:20:21 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 23:20:21 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 23:20:21 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_056'),
+ '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 0x1232a1689690>,
+ 'robot_config': {'K_damping': [793.0831592413665,
+                                241.62769618042807,
+                                300.12442783719814,
+                                440.9812092338339,
+                                500.000000000004,
+                                311.89516163317654,
+                                500.000000000004],
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+                                  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': 50025,
+ '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 23:20:21 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 23:20:21 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 23:20:21 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 23:20:22 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 23:20:22 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 23:20:22 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 23:20:22 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_056'),
+ '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 0x79e4605f450>,
+ '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': 50028,
+ '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 23:20:22 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 23:20:22 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 23:20:22 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 23:20:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 23:20:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 23:20:22 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 23:20:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 23:20:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 23:20:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 23:20:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 23:20:23 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 23:20:23 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 23:20:23 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 23:20:23 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 23:20:23 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 23:20:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:23 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 23:20:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:23 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 23:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:23 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 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184935m	[env.py: 870]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:23 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 23:20:23 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 23:20:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:23 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 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187604m	[env.py: 870]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:23 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 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:23 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 23:20:24 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:20:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:24 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 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186772m	[env.py: 870]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:24 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 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.81139913 -0.82964243 -0.18677188] yaw=-87.6deg	[env.py: 1019]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.40001177 -1.04418879 -0.18760414] yaw=-71.1deg	[env.py: 1019]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=8.6ms, retries=223.2ms, total=231.8ms	[env.py: 1075]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.044, -0.188)	[env.py: 1079]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg	[env.py: 1082]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17604761 -1.30162488 -0.18677188] yaw=-49.1deg	[env.py: 1019]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=8.8ms, retries=304.2ms, total=313.0ms	[env.py: 1105]
+05/13 23:20:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:20:24 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43712561 -0.92930512 -0.18677188] yaw=-45.0deg	[env.py: 1019]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=27.3ms, retries=340.0ms, total=367.3ms	[env.py: 1075]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.811, -0.830, -0.187)	[env.py: 1079]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.6 deg	[env.py: 1082]
+05/13 23:20:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:24 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:24 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:20:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:25 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 23:20:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:25 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 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123099m	[env.py: 870]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84684648 -0.84578231 -0.12309894] yaw=-75.0deg	[env.py: 1019]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75382225 -0.78240976 -0.12309894] yaw=-74.3deg	[env.py: 1019]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86442391 -0.88068978 -0.12309894] yaw=-70.7deg	[env.py: 1019]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.5ms, total=98.5ms	[env.py: 1075]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.847, -0.846, -0.123)	[env.py: 1079]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg	[env.py: 1082]
+05/13 23:20:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.891m	[env.py: 1086]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:25 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:25 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 23:20:25 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 23:20:25 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 23:20:25 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_056'),
+ '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 0xe510ae8f710>,
+ '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': 50026,
+ '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 23:20:25 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 23:20:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 23:20:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 23:20:25 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 23:20:27 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 23:20:27 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 23:20:27 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 23:20:27 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 23:20:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:20:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:27 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 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122321m	[env.py: 870]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:27 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 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23604157 -1.22501055 -0.12232127] yaw=-38.2deg	[env.py: 1019]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=8.8ms, retries=131.4ms, total=140.2ms	[env.py: 1075]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.225, -0.122)	[env.py: 1079]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg	[env.py: 1082]
+05/13 23:20:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:27 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 16.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:40 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 23:20:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:40 INFO: [Worker 0] Warmed up parallel IK solver in 16.166s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:40 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 23:20:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:41 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.755s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.650[m] 92.549[deg]	[grasp_sample.py: 539]
+05/13 23:20:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:20:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:20:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:41 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.668[m] 101.009[deg]	[grasp_sample.py: 539]
+05/13 23:20:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:20:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:20:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:20:43 INFO: [Worker 0] Warmed up parallel IK solver in 17.842s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:43 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 23:20:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.796s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.677[m] 96.636[deg]	[grasp_sample.py: 539]
+05/13 23:20:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:20:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:20:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:20:45 INFO: [Worker 0] Warmed up parallel IK solver in 17.672s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:45 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 23:20:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:47 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:47 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.666[m] 83.870[deg]	[grasp_sample.py: 539]
+05/13 23:20:48 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:20:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:20:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:20:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106539m	[env.py: 870]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1320679  -1.00422933 -0.1065386 ] yaw=-55.6deg	[env.py: 1019]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -49.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60634469 -0.82750827 -0.1065386 ] yaw=-83.5deg	[env.py: 1019]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28145195 -1.13746925 -0.1065386 ] yaw=-51.9deg	[env.py: 1019]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.9ms, total=115.9ms	[env.py: 1075]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.004, -0.107)	[env.py: 1079]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg	[env.py: 1082]
+05/13 23:20:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:50 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:20:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.357s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:20:51 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:20:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160038m	[env.py: 870]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27612373 -0.87750357 -0.16003835] yaw=-54.5deg	[env.py: 1019]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2424582  -1.09739803 -0.16003835] yaw=-37.0deg	[env.py: 1019]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.2ms, total=216.2ms	[env.py: 1075]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.878, -0.160)	[env.py: 1079]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.5 deg	[env.py: 1082]
+05/13 23:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:54 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:20:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.339s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:20:55 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:20:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:20:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:20:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.535[m] 70.629[deg]	[grasp_sample.py: 539]
+05/13 23:20:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:20:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:20:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:20:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:20:57 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 23:20:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:20:57 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 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133097m	[env.py: 870]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:20:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38157811 -1.0106036  -0.13309731] yaw=-41.4deg	[env.py: 1019]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:20:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=132.6ms, total=132.6ms	[env.py: 1075]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -1.011, -0.133)	[env.py: 1079]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg	[env.py: 1082]
+05/13 23:20:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:20:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:20:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:20:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:20:57 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:20:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:20:57 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 23:20:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:20:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:59 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:20:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.679[m] 89.005[deg]	[grasp_sample.py: 539]
+05/13 23:20:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:20:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:20:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:20:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:03 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.535[m] 70.629[deg]	[grasp_sample.py: 539]
+05/13 23:21:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:10 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.535[m] 70.629[deg]	[grasp_sample.py: 539]
+05/13 23:21:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:15 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:21:15 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:21:15 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=False episode_total=0.26s:
+  episode_total: mean=26.35s, total=52.71s, count=2, min=2285.2ms, max=50424.0ms
+  sensor_polling: mean=161.2ms, total=11.61s, count=72, min=147.5ms, max=276.6ms
+  task_sampling_failed: mean=2.29s, total=2.29s, count=1, min=2285.1ms, max=2285.1ms
+  scene_load: mean=1.97s, total=1.97s, count=1, min=1966.6ms, max=1966.6ms
+  scene_env_create: mean=1.06s, total=1.06s, count=1, min=1062.3ms, max=1062.3ms
+  scene_compile: mean=818.1ms, total=818.1ms, count=1, min=818.1ms, max=818.1ms
+  physics_step: mean=8.9ms, total=638.2ms, count=72, min=6.7ms, max=15.9ms
+  task_specific_sample: mean=285.9ms, total=571.7ms, count=2, min=255.6ms, max=316.1ms
+  compile_mujoco: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  compile_xml_load: mean=320.6ms, total=320.6ms, count=1, min=320.6ms, max=320.6ms
+  task_sampling: mean=257.4ms, total=257.4ms, count=1, min=257.4ms, max=257.4ms
+  scene_init: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
+  compile_aux_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_aux_policy_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  scene_asset_install: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms
+  compile_robot_add: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  scene_randomize: mean=762.6us, total=1.5ms, count=2, min=0.7ms, max=0.8ms
+  mj_forward_sync: mean=236.9us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.5us, 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 23:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:17 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 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119385m	[env.py: 870]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89346147 -0.88738497 -0.11938453] yaw=-64.0deg	[env.py: 1019]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26428526 -1.08112833 -0.11938453] yaw=-54.7deg	[env.py: 1019]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.8ms, total=143.9ms	[env.py: 1075]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.893, -0.887, -0.119)	[env.py: 1079]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.0 deg	[env.py: 1082]
+05/13 23:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:18 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:18 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 23:21:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.690[m] 93.160[deg]	[grasp_sample.py: 539]
+05/13 23:21:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:19 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 23:21:24 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:26 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:31 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 23:21:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.070s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.890s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:32 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.539[m] 67.128[deg]	[grasp_sample.py: 539]
+05/13 23:21:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:36 INFO: [Worker 0] Object is not in grasp! 0.00129 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:21:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:36 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 23:21:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.082s, found 106 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:36 INFO: [Worker 0] Feasibility-checked 106 grasps in 0.353s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:36 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 3.053[deg]	[grasp_sample.py: 539]
+05/13 23:21:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:36 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:21:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:21:36 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:21:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:38 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:21:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:21:38 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:21:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.919s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.536[m] 66.484[deg]	[grasp_sample.py: 539]
+05/13 23:21:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:21:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:21:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:21:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.45s (batch: 2.89s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:21:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:44 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.18s:
+  episode_total: mean=82.60s, total=82.60s, count=1, min=82603.5ms, max=82603.5ms
+  sensor_polling: mean=149.8ms, total=39.54s, count=264, min=128.2ms, max=390.1ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4561.1ms, max=4561.1ms
+  save_batch_prep: mean=2.89s, total=2.89s, count=1, min=2891.2ms, max=2891.2ms
+  physics_step: mean=9.6ms, total=2.55s, count=264, min=7.7ms, max=29.7ms
+  task_sampling: mean=2.18s, total=2.18s, count=1, min=2183.0ms, max=2183.0ms
+  scene_load: mean=1.65s, total=1.65s, count=1, min=1652.4ms, max=1652.4ms
+  scene_env_create: mean=973.6ms, total=973.6ms, count=1, min=973.6ms, max=973.6ms
+  scene_compile: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
+  task_specific_sample: mean=528.6ms, total=528.6ms, count=1, min=528.6ms, max=528.6ms
+  compile_mujoco: mean=371.4ms, total=371.4ms, count=1, min=371.4ms, max=371.4ms
+  compile_xml_load: mean=138.7ms, total=138.7ms, count=1, min=138.7ms, max=138.7ms
+  scene_init: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  compile_aux_policy_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  scene_asset_install: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  asset_install_grasps: mean=17.3ms, total=17.3ms, count=1, min=17.3ms, max=17.3ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  scene_randomize: mean=789.7us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  mj_forward_sync: mean=333.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:21:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.693s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:45 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.536[m] 66.484[deg]	[grasp_sample.py: 539]
+05/13 23:21:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:21:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:21:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.45s (batch: 2.82s, save: 4.63s)	[pipeline.py: 300]
+05/13 23:21:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:21:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155266m	[env.py: 870]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38603667 -1.11548849 -0.15526554] yaw=-39.2deg	[env.py: 1019]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=190.5ms, total=190.5ms	[env.py: 1075]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.386, -1.115, -0.155)	[env.py: 1079]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg	[env.py: 1082]
+05/13 23:21:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m	[env.py: 1086]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:46 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=2.56s:
+  episode_total: mean=84.84s, total=84.84s, count=1, min=84843.0ms, max=84843.0ms
+  sensor_polling: mean=152.7ms, total=40.16s, count=263, min=133.1ms, max=346.9ms
+  save_trajectories: mean=4.63s, total=4.63s, count=1, min=4627.8ms, max=4627.8ms
+  save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2820.1ms, max=2820.1ms
+  task_sampling: mean=2.56s, total=2.56s, count=1, min=2559.9ms, max=2559.9ms
+  physics_step: mean=9.4ms, total=2.48s, count=263, min=7.4ms, max=14.7ms
+  scene_load: mean=2.12s, total=2.12s, count=1, min=2123.5ms, max=2123.5ms
+  scene_env_create: mean=1.04s, total=1.04s, count=1, min=1042.5ms, max=1042.5ms
+  scene_compile: mean=996.6ms, total=996.6ms, count=1, min=996.6ms, max=996.6ms
+  compile_xml_load: mean=477.8ms, total=477.8ms, count=1, min=477.8ms, max=477.8ms
+  compile_mujoco: mean=439.3ms, total=439.3ms, count=1, min=439.3ms, max=439.3ms
+  task_specific_sample: mean=434.3ms, total=434.3ms, count=1, min=434.3ms, max=434.3ms
+  scene_init: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_aux_policy_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_asset_install: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  asset_install_grasps: mean=18.1ms, total=18.1ms, count=1, min=18.1ms, max=18.1ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  scene_randomize: mean=640.1us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  mj_forward_sync: mean=232.5us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:21:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:46 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:21:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:48 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 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151072m	[env.py: 870]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16528291 -1.43261069 -0.15107223] yaw=-6.6deg	[env.py: 1019]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:48 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.573[m] 80.551[deg]	[grasp_sample.py: 539]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.75589149 -0.82329588 -0.15107223] yaw=-66.5deg	[env.py: 1019]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:48 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 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.433, -0.151)	[env.py: 1079]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.6 deg	[env.py: 1082]
+05/13 23:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:21:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:48 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:21:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:21:50 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:21:50 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.30s:
+  episode_total: mean=33.19s, total=33.19s, count=1, min=33188.4ms, max=33188.4ms
+  sensor_polling: mean=157.2ms, total=11.95s, count=76, min=139.9ms, max=297.8ms
+  physics_step: mean=8.7ms, total=662.5ms, count=76, min=6.5ms, max=11.0ms
+  task_sampling: mean=298.4ms, total=298.4ms, count=1, min=298.4ms, max=298.4ms
+  task_specific_sample: mean=295.7ms, total=295.7ms, count=1, min=295.7ms, max=295.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=265.8us, 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 23:21:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:52 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 23:21:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:52 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 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190546m	[env.py: 870]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.09724787 -1.14976245 -0.19054572] yaw=-24.5deg	[env.py: 1019]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37503645 -1.15690724 -0.19054572] yaw=-38.5deg	[env.py: 1019]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:53 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 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.150, -0.191)	[env.py: 1079]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.5 deg	[env.py: 1082]
+05/13 23:21:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m	[env.py: 1086]
+05/13 23:21:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:53 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:53 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 23:21:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:54 INFO: [Worker 0] Feasibility-checked 228 grasps in 6.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:21:54 INFO: [Worker 0] Feasible grasp found 292 (originally 292): w/ 0.622[m] 90.204[deg]	[grasp_sample.py: 539]
+05/13 23:21:54 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:21:54 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:21:55 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:21:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:57 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 23:21:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:57 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 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137210m	[env.py: 870]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:57 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 23:21:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:57 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 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110203m	[env.py: 870]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78349365 -0.7558627  -0.13720994] yaw=-95.8deg	[env.py: 1019]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68609717 -0.73068655 -0.13720994] yaw=-100.3deg	[env.py: 1019]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23231616 -1.0091932  -0.13720994] yaw=-72.2deg	[env.py: 1019]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:21:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.1ms	[env.py: 1075]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.783, -0.756, -0.137)	[env.py: 1079]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.8 deg	[env.py: 1082]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=381.1ms, total=381.1ms	[env.py: 1105]
+05/13 23:21:57 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:21:57 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:21:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:21:57 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:21:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:21:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:21:58 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:21:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:21:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:21:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:21:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:21:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:21:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:21:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:21:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:21:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:21:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183007m	[env.py: 870]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:21:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:21:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=145.9ms, total=145.9ms	[env.py: 1105]
+05/13 23:21:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:21:59 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:22:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:01 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 23:22:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:01 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 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198570m	[env.py: 870]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21360863 -1.28608311 -0.19856971] yaw=-26.7deg	[env.py: 1019]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=134.8ms, total=134.8ms	[env.py: 1075]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.286, -0.199)	[env.py: 1079]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.7 deg	[env.py: 1082]
+05/13 23:22:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:01 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:22:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:03 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.213s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:03 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.580[m] 84.767[deg]	[grasp_sample.py: 539]
+05/13 23:22:03 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:22:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:05 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 23:22:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183340m	[env.py: 870]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.03765594 -1.12442355 -0.1833395 ] yaw=-41.8deg	[env.py: 1019]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.38286767 -0.95665391 -0.1833395 ] yaw=-33.8deg	[env.py: 1019]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.8ms, total=133.8ms	[env.py: 1075]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -1.124, -0.183)	[env.py: 1079]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg	[env.py: 1082]
+05/13 23:22:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:05 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:22:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:07 INFO: [Worker 0] Feasibility-checked 246 grasps in 9.209s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.745[m] 102.841[deg]	[grasp_sample.py: 539]
+05/13 23:22:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:22:07 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.584s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:22:07 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:22:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:22:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:07 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 23:22:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:08 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 23:22:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191194m	[env.py: 870]
+05/13 23:22:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24988812 -1.09655121 -0.19119447] yaw=-25.9deg	[env.py: 1019]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms	[env.py: 1075]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.097, -0.191)	[env.py: 1079]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.9 deg	[env.py: 1082]
+05/13 23:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:09 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:09 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 23:22:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:22:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:22:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:22:11 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:22:11 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.176s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:11 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.648[m] 80.201[deg]	[grasp_sample.py: 539]
+05/13 23:22:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:22:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:22:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:11 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 23:22:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:22:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:22:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.38s (batch: 3.16s, save: 5.22s)	[pipeline.py: 300]
+05/13 23:22:20 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=2.70s:
+  episode_total: mean=27.37s, total=109.47s, count=4, min=1724.6ms, max=83213.0ms
+  sensor_polling: mean=178.4ms, total=53.52s, count=300, min=141.8ms, max=329.1ms
+  save_trajectories: mean=5.22s, total=5.22s, count=1, min=5222.2ms, max=5222.2ms
+  physics_step: mean=10.9ms, total=3.27s, count=300, min=8.8ms, max=21.7ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3160.1ms, max=3160.1ms
+  task_sampling: mean=674.8ms, total=2.70s, count=4, min=262.0ms, max=1727.0ms
+  scene_load: mean=1.43s, total=1.43s, count=1, min=1426.2ms, max=1426.2ms
+  task_specific_sample: mean=315.7ms, total=1.26s, count=4, min=259.5ms, max=426.3ms
+  scene_env_create: mean=781.7ms, total=781.7ms, count=1, min=781.7ms, max=781.7ms
+  scene_compile: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  compile_mujoco: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  compile_xml_load: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_init: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  compile_aux_policy_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  scene_randomize: mean=1.3ms, total=5.2ms, count=4, min=1.0ms, max=1.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=278.3us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.0us, total=0.1ms, count=4, 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 23:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:22 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 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156499m	[env.py: 870]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87002233 -0.8490143  -0.15649934] yaw=-66.1deg	[env.py: 1019]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=354.5ms, total=354.6ms	[env.py: 1075]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.870, -0.849, -0.156)	[env.py: 1079]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg	[env.py: 1082]
+05/13 23:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:22 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:22 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 23:22:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:23 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.651[m] 86.758[deg]	[grasp_sample.py: 539]
+05/13 23:22:24 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:22:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:22:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170389m	[env.py: 870]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46751404 -0.75687528 -0.17038861] yaw=-58.3deg	[env.py: 1019]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48659023 -0.87893353 -0.17038861] yaw=-38.6deg	[env.py: 1019]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=188.2ms, total=188.2ms	[env.py: 1075]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.757, -0.170)	[env.py: 1079]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/13 23:22:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:26 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:26 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 23:22:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.475s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:22:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:29 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 23:22:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:29 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 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169376m	[env.py: 870]
+05/13 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06408933 -1.25566318 -0.16937617] yaw=-3.7deg	[env.py: 1019]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02528428 -1.16135032 -0.16937617] yaw=-53.4deg	[env.py: 1019]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:30 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69892071 -0.86767188 -0.16937617] yaw=-87.8deg	[env.py: 1019]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=419.7ms, total=419.7ms	[env.py: 1075]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.064, -1.256, -0.169)	[env.py: 1079]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.7 deg	[env.py: 1082]
+05/13 23:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 23:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:30 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:30 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 23:22:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:32 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.545s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:22:32 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:22:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:34 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 23:22:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:34 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 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168531m	[env.py: 870]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32972826 -1.18937982 -0.16853095] yaw=-30.5deg	[env.py: 1019]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5952357  -0.97650247 -0.16853095] yaw=-73.0deg	[env.py: 1019]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.0ms, total=128.0ms	[env.py: 1075]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.330, -1.189, -0.169)	[env.py: 1079]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg	[env.py: 1082]
+05/13 23:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:34 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:22:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.607s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.586[m] 89.588[deg]	[grasp_sample.py: 539]
+05/13 23:22:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:22:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:35 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 23:22:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:22:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:22:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:22:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:22:37 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 23:22:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 144 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:41 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:22:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:22:41 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 23:22:41 INFO: [Worker 0] Feasibility-checked 144 grasps in 3.904s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:41 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.037[m] 8.887[deg]	[grasp_sample.py: 539]
+05/13 23:22:42 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:22:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:43 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 23:22:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:43 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 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147745m	[env.py: 870]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34725067 -1.0199362  -0.14774533] yaw=-41.5deg	[env.py: 1019]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1046138  -1.19459513 -0.14774533] yaw=-59.0deg	[env.py: 1019]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=121.2ms, total=121.3ms	[env.py: 1075]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -1.020, -0.148)	[env.py: 1079]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.5 deg	[env.py: 1082]
+05/13 23:22:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m	[env.py: 1086]
+05/13 23:22:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:44 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:44 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 23:22:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:45 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.576s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 82.521[deg]	[grasp_sample.py: 539]
+05/13 23:22:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:22:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:22:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:22:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:22:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.49s (batch: 2.96s, save: 4.52s)	[pipeline.py: 300]
+05/13 23:22:49 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.34s:
+  episode_total: mean=63.07s, total=63.07s, count=1, min=63069.1ms, max=63069.1ms
+  sensor_polling: mean=152.8ms, total=38.20s, count=250, min=132.4ms, max=282.7ms
+  save_trajectories: mean=4.52s, total=4.52s, count=1, min=4524.4ms, max=4524.4ms
+  save_batch_prep: mean=2.96s, total=2.96s, count=1, min=2964.7ms, max=2964.7ms
+  physics_step: mean=10.0ms, total=2.49s, count=250, min=7.5ms, max=39.6ms
+  task_sampling: mean=341.8ms, total=341.8ms, count=1, min=341.8ms, max=341.8ms
+  task_specific_sample: mean=339.4ms, total=339.4ms, count=1, min=339.4ms, max=339.4ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=233.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:22:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:22:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:22:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:22:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:22:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:22:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132544m	[env.py: 870]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:22:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.47900966 -1.00095014 -0.13254357] yaw=-62.5deg	[env.py: 1019]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23103647 -1.16126753 -0.13254357] yaw=-40.8deg	[env.py: 1019]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -105.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14211293 -1.19854461 -0.13254357] yaw=-16.0deg	[env.py: 1019]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:22:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=287.1ms, total=287.1ms	[env.py: 1075]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.479, -1.001, -0.133)	[env.py: 1079]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg	[env.py: 1082]
+05/13 23:22:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:22:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:22:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:22:51 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:22:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:22:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:22:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:22:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:22:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.545s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:22:52 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.617[m] 89.804[deg]	[grasp_sample.py: 539]
+05/13 23:22:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:22:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:22:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:22:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:22:57 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:22:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:22:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:09 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:23:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:23:09 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:23:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:23:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:23:14 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 23:23:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:15 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.108[m] 11.712[deg]	[grasp_sample.py: 539]
+05/13 23:23:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:23:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:23:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.18s (batch: 3.43s, save: 4.76s)	[pipeline.py: 300]
+05/13 23:23:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:18 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.16s:
+  episode_total: mean=12.66s, total=75.97s, count=6, min=152.2ms, max=69386.0ms
+  sensor_polling: mean=159.1ms, total=42.00s, count=264, min=137.7ms, max=348.4ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4755.0ms, max=4755.0ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3428.3ms, max=3428.3ms
+  physics_step: mean=9.8ms, total=2.60s, count=264, min=7.7ms, max=18.5ms
+  task_specific_sample: mean=281.3ms, total=1.69s, count=6, min=149.7ms, max=385.1ms
+  task_sampling: mean=290.6ms, total=1.16s, count=4, min=274.5ms, max=306.4ms
+  task_sampling_failed: mean=271.3ms, total=542.6ms, count=2, min=152.2ms, max=390.5ms
+  scene_randomize: mean=1.1ms, total=6.4ms, count=6, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=266.2us, total=1.6ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=19.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:23:18 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:20 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 23:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100149m	[env.py: 870]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16304026 -1.01607223 -0.10014881] yaw=-48.0deg	[env.py: 1019]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.52901313 -0.8170149  -0.10014881] yaw=-55.9deg	[env.py: 1019]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=134.9ms, total=135.0ms	[env.py: 1075]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.016, -0.100)	[env.py: 1079]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 23:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:20 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:23:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:23:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.446s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:21 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.108[m] 11.708[deg]	[grasp_sample.py: 539]
+05/13 23:23:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.491s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:23:22 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:23:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:23 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 23:23:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:23 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 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182382m	[env.py: 870]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.4ms, total=143.4ms	[env.py: 1105]
+05/13 23:23:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:23:23 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:25 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 23:23:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141134m	[env.py: 870]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18360634 -1.27219942 -0.14113442] yaw=-34.6deg	[env.py: 1019]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31520173 -1.13703676 -0.14113442] yaw=-67.5deg	[env.py: 1019]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.3ms	[env.py: 1075]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.272, -0.141)	[env.py: 1079]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.6 deg	[env.py: 1082]
+05/13 23:23:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:26 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:26 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 23:23:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:23:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:23:26 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 23:23:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:27 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.646[m] 86.039[deg]	[grasp_sample.py: 539]
+05/13 23:23:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:27 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.108[m] 11.708[deg]	[grasp_sample.py: 539]
+05/13 23:23:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:27 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186220m	[env.py: 870]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56536312 -0.86190923 -0.18622033] yaw=-87.7deg	[env.py: 1019]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18644524 -1.41894508 -0.18622033] yaw=1.6deg	[env.py: 1019]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.862, -0.186)	[env.py: 1079]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.7 deg	[env.py: 1082]
+05/13 23:23:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:29 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:30 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:23:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:23:30 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 23:23:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:30 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:31 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.497s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:31 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.732[m] 95.900[deg]	[grasp_sample.py: 539]
+05/13 23:23:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:31 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:23:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:23:33 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:23:33 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:23:33 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.44s:
+  episode_total: mean=42.07s, total=42.07s, count=1, min=42074.2ms, max=42074.2ms
+  sensor_polling: mean=147.3ms, total=20.33s, count=138, min=133.1ms, max=282.8ms
+  physics_step: mean=8.7ms, total=1.20s, count=138, min=6.3ms, max=13.8ms
+  task_sampling: mean=444.5ms, total=444.5ms, count=1, min=444.5ms, max=444.5ms
+  task_specific_sample: mean=442.1ms, total=442.1ms, count=1, min=442.1ms, max=442.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=243.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:23:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:33 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 23:23:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:33 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 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107900m	[env.py: 870]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.710949   -0.76153263 -0.10789973] yaw=-61.7deg	[env.py: 1019]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73534309 -0.67247098 -0.10789973] yaw=-83.0deg	[env.py: 1019]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59895139 -0.83659903 -0.10789973] yaw=-41.2deg	[env.py: 1019]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=114.7ms, total=114.7ms	[env.py: 1075]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.711, -0.762, -0.108)	[env.py: 1079]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/13 23:23:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m	[env.py: 1086]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:33 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112727m	[env.py: 870]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55661619 -0.87759392 -0.11272722] yaw=-66.6deg	[env.py: 1019]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:34 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 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.557, -0.878, -0.113)	[env.py: 1079]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/13 23:23:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:35 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:23:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:23:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.70s (batch: 2.99s, save: 4.71s)	[pipeline.py: 300]
+05/13 23:23:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.683s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:37 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.708[m] 93.712[deg]	[grasp_sample.py: 539]
+05/13 23:23:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.374s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:38 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.771[m] 88.054[deg]	[grasp_sample.py: 539]
+05/13 23:23:38 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:38 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.73s:
+  episode_total: mean=17.65s, total=70.58s, count=4, min=1917.6ms, max=64449.9ms
+  sensor_polling: mean=156.5ms, total=39.75s, count=254, min=143.6ms, max=346.7ms
+  save_trajectories: mean=4.71s, total=4.71s, count=1, min=4708.8ms, max=4708.8ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2988.9ms, max=2988.9ms
+  physics_step: mean=9.9ms, total=2.52s, count=254, min=8.7ms, max=17.4ms
+  task_sampling: mean=433.3ms, total=1.73s, count=4, min=277.4ms, max=578.7ms
+  task_specific_sample: mean=430.4ms, total=1.72s, count=4, min=274.7ms, max=576.5ms
+  scene_randomize: mean=1.5ms, total=5.8ms, count=4, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=280.3us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=19.7us, 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 23:23:38 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:39 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 23:23:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:39 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 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174484m	[env.py: 870]
+05/13 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19419419 -1.17142428 -0.17448359] yaw=-43.4deg	[env.py: 1019]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:40 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 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173464m	[env.py: 870]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00746955 -1.2242553  -0.1734643 ] yaw=-14.4deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60204156 -0.80655656 -0.17448359] yaw=-56.5deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02952666 -1.34785528 -0.1734643 ] yaw=-7.4deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.79360219 -0.66323257 -0.17448359] yaw=-98.9deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.6ms, total=162.6ms	[env.py: 1075]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.171, -0.174)	[env.py: 1079]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.4 deg	[env.py: 1082]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48681912 -0.78881264 -0.1734643 ] yaw=-91.9deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=77.0ms, total=77.0ms	[env.py: 1075]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.224, -0.173)	[env.py: 1079]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.4 deg	[env.py: 1082]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:40 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:40 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181461m	[env.py: 870]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16046753 -1.26661054 -0.18146109] yaw=-8.0deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54900312 -0.99757635 -0.18146109] yaw=-69.9deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.48277009 -0.82140288 -0.18146109] yaw=-53.9deg	[env.py: 1019]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms	[env.py: 1075]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.267, -0.181)	[env.py: 1079]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.0 deg	[env.py: 1082]
+05/13 23:23:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:40 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:41 INFO: [Worker 0] Feasibility-checked 229 grasps in 1.608s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:23:41 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:23:42 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:42 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.688[m] 83.769[deg]	[grasp_sample.py: 539]
+05/13 23:23:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:23:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:23:43 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 23:23:43 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:43 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 23:23:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:43 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 23:23:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:43 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 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169881m	[env.py: 870]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32285889 -1.02563421 -0.16988076] yaw=-24.0deg	[env.py: 1019]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7560911  -0.73358377 -0.16988076] yaw=-101.1deg	[env.py: 1019]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.07677113 -1.32931133 -0.16988076] yaw=-7.2deg	[env.py: 1019]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=194.8ms, total=194.8ms	[env.py: 1075]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.026, -0.170)	[env.py: 1079]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.0 deg	[env.py: 1082]
+05/13 23:23:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:44 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:44 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 23:23:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:44 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 23:23:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:44 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 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136715m	[env.py: 870]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -175.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13152679 -1.1242839  -0.13671525] yaw=-50.5deg	[env.py: 1019]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.84817995 -0.83528328 -0.13671525] yaw=-111.6deg	[env.py: 1019]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.1ms, total=145.1ms	[env.py: 1075]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.124, -0.137)	[env.py: 1079]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg	[env.py: 1082]
+05/13 23:23:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 23:23:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:45 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:45 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:45 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.739[m] 78.786[deg]	[grasp_sample.py: 539]
+05/13 23:23:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.062s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:46 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.700[m] 93.675[deg]	[grasp_sample.py: 539]
+05/13 23:23:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:23:46 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:23:46 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:48 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 23:23:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:48 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 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193411m	[env.py: 870]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=88.3ms, total=88.3ms	[env.py: 1105]
+05/13 23:23:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:23:48 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:23:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:48 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 23:23:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:48 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 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169827m	[env.py: 870]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25668319 -1.13274379 -0.16982697] yaw=-28.5deg	[env.py: 1019]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33853556 -0.87025067 -0.16982697] yaw=-80.3deg	[env.py: 1019]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.2ms	[env.py: 1075]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.257, -1.133, -0.170)	[env.py: 1079]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.5 deg	[env.py: 1082]
+05/13 23:23:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:48 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:50 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 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145553m	[env.py: 870]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.7149493  -0.66535045 -0.14555323] yaw=-102.5deg	[env.py: 1019]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms	[env.py: 1075]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.715, -0.665, -0.146)	[env.py: 1079]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.5 deg	[env.py: 1082]
+05/13 23:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:50 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:50 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.617s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:50 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.666[m] 81.201[deg]	[grasp_sample.py: 539]
+05/13 23:23:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:23:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:23:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.47s (batch: 3.09s, save: 5.38s)	[pipeline.py: 300]
+05/13 23:23:51 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.464s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:23:51 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:23:52 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.03s:
+  episode_total: mean=40.14s, total=120.43s, count=3, min=7135.9ms, max=68235.8ms
+  sensor_polling: mean=152.1ms, total=64.47s, count=424, min=131.7ms, max=449.3ms
+  save_trajectories: mean=5.38s, total=5.38s, count=1, min=5380.4ms, max=5380.4ms
+  physics_step: mean=9.6ms, total=4.07s, count=424, min=7.2ms, max=38.5ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3088.1ms, max=3088.1ms
+  task_sampling: mean=343.0ms, total=1.03s, count=3, min=263.3ms, max=486.1ms
+  task_specific_sample: mean=340.4ms, total=1.02s, count=3, min=261.1ms, max=483.2ms
+  scene_randomize: mean=1.3ms, total=3.9ms, count=3, min=1.1ms, max=1.6ms
+  mj_forward_sync: mean=255.4us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=21.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:23:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101299m	[env.py: 870]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21428299 -1.27817926 -0.10129901] yaw=-44.8deg	[env.py: 1019]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16186384 -1.01294014 -0.10129901] yaw=-69.1deg	[env.py: 1019]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18880339 -1.25829066 -0.10129901] yaw=-50.8deg	[env.py: 1019]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.9ms, total=122.0ms	[env.py: 1075]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.278, -0.101)	[env.py: 1079]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:23:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:53 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 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163193m	[env.py: 870]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:53 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 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 23:23:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51804381 -1.03440407 -0.16319258] yaw=-78.0deg	[env.py: 1019]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63449172 -0.74062651 -0.16319258] yaw=-73.6deg	[env.py: 1019]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=163.7ms, total=163.7ms	[env.py: 1075]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -1.034, -0.163)	[env.py: 1079]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.0 deg	[env.py: 1082]
+05/13 23:23:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.081s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:23:54 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:54 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:54 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.613[m] 90.352[deg]	[grasp_sample.py: 539]
+05/13 23:23:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:23:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:23:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:23:55 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 23:23:56 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:56 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.665[m] 88.588[deg]	[grasp_sample.py: 539]
+05/13 23:23:56 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:58 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 23:23:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:58 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 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184825m	[env.py: 870]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=282.5ms, total=282.5ms	[env.py: 1105]
+05/13 23:23:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:23:59 ERROR: [Worker 0] Worker 0 house 1 episode 8 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:24:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:01 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 23:24:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:01 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 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107217m	[env.py: 870]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35861039 -0.87781024 -0.10721699] yaw=-27.6deg	[env.py: 1019]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63984765 -0.9809964  -0.10721699] yaw=-74.1deg	[env.py: 1019]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21208286 -1.2059413  -0.10721699] yaw=-37.7deg	[env.py: 1019]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.1ms	[env.py: 1075]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.878, -0.107)	[env.py: 1079]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.6 deg	[env.py: 1082]
+05/13 23:24:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:01 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:01 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 23:24:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:02 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.455s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:24:02 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:04 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 23:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132431m	[env.py: 870]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71021972 -0.92909996 -0.13243081] yaw=-62.0deg	[env.py: 1019]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46413484 -0.75940311 -0.13243081] yaw=-85.9deg	[env.py: 1019]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2291305  -1.30248956 -0.13243081] yaw=-39.1deg	[env.py: 1019]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.3ms, total=103.3ms	[env.py: 1075]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.710, -0.929, -0.132)	[env.py: 1079]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg	[env.py: 1082]
+05/13 23:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.837m	[env.py: 1086]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:04 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:04 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 23:24:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.633[m] 84.421[deg]	[grasp_sample.py: 539]
+05/13 23:24:05 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:24:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:07 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 23:24:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:07 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 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176772m	[env.py: 870]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00671896 -1.37274581 -0.17677185] yaw=-16.8deg	[env.py: 1019]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=154.5ms, total=154.5ms	[env.py: 1075]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.373, -0.177)	[env.py: 1079]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.8 deg	[env.py: 1082]
+05/13 23:24:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:08 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:08 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 23:24:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:09 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.435s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:24:09 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:24:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:11 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 23:24:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148320m	[env.py: 870]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3805175  -1.05463587 -0.14831952] yaw=-68.6deg	[env.py: 1019]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.8ms, total=124.8ms	[env.py: 1075]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -1.055, -0.148)	[env.py: 1079]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg	[env.py: 1082]
+05/13 23:24:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:11 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:11 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 23:24:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.544s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.666[m] 98.114[deg]	[grasp_sample.py: 539]
+05/13 23:24:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:13 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:24:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141708m	[env.py: 870]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -121.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.12947031 -1.12283196 -0.14170835] yaw=-58.8deg	[env.py: 1019]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=127.9ms, total=127.9ms	[env.py: 1075]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.123, -0.142)	[env.py: 1079]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg	[env.py: 1082]
+05/13 23:24:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:15 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:24:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:16 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.452s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:24:16 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:24:16 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 23:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:18 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 23:24:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176042m	[env.py: 870]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22761942 -1.33208276 -0.17604237] yaw=-39.4deg	[env.py: 1019]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.4ms, total=122.5ms	[env.py: 1075]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -1.332, -0.176)	[env.py: 1079]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg	[env.py: 1082]
+05/13 23:24:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m	[env.py: 1086]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:18 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:18 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 23:24:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:24:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:24:20 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 23:24:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:21 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.085[m] 7.054[deg]	[grasp_sample.py: 539]
+05/13 23:24:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:24:21 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.238s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:21 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.546[m] 86.232[deg]	[grasp_sample.py: 539]
+05/13 23:24:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:24:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:24:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:24:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:24:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.444s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.126[m] 16.711[deg]	[grasp_sample.py: 539]
+05/13 23:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:33 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:24:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:24:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:24:42 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:24:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:24:46 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:24:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:24:46 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/13 23:24:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:24:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:24:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.07s (batch: 3.09s, save: 4.99s)	[pipeline.py: 300]
+05/13 23:24:54 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:24:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:24:54 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 23:24:54 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:24:54 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.55s:
+  episode_total: mean=36.58s, total=73.15s, count=2, min=1924.2ms, max=71229.6ms
+  sensor_polling: mean=153.2ms, total=43.36s, count=283, min=135.7ms, max=343.2ms
+  save_trajectories: mean=4.99s, total=4.99s, count=1, min=4988.9ms, max=4988.9ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3085.2ms, max=3085.2ms
+  physics_step: mean=9.9ms, total=2.80s, count=283, min=7.5ms, max=14.2ms
+  task_sampling: mean=273.4ms, total=546.9ms, count=2, min=206.6ms, max=340.3ms
+  task_specific_sample: mean=270.5ms, total=540.9ms, count=2, min=204.0ms, max=336.9ms
+  scene_randomize: mean=1.4ms, total=2.8ms, count=2, min=1.2ms, max=1.6ms
+  mj_forward_sync: mean=267.0us, total=0.5ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:24:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:24:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120628m	[env.py: 870]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.75886857 -0.7316621  -0.12062795] yaw=-68.5deg	[env.py: 1019]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.74953454 -0.88402564 -0.12062795] yaw=-86.8deg	[env.py: 1019]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.06446665 -1.31942374 -0.12062795] yaw=-1.3deg	[env.py: 1019]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms	[env.py: 1075]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.759, -0.732, -0.121)	[env.py: 1079]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/13 23:24:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:24:56 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:24:56 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 23:24:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:24:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:00 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.719s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:00 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.766[m] 102.317[deg]	[grasp_sample.py: 539]
+05/13 23:25:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:25:01 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:25:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:25:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:25:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.98s (batch: 3.26s, save: 4.72s)	[pipeline.py: 300]
+05/13 23:25:03 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=2.01s:
+  episode_total: mean=11.36s, total=90.88s, count=8, min=153.0ms, max=74642.2ms
+  sensor_polling: mean=178.5ms, total=47.65s, count=267, min=143.1ms, max=353.5ms
+  save_trajectories: mean=4.72s, total=4.72s, count=1, min=4724.2ms, max=4724.2ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3256.6ms, max=3256.6ms
+  physics_step: mean=11.1ms, total=2.96s, count=267, min=8.9ms, max=17.9ms
+  task_specific_sample: mean=267.6ms, total=2.14s, count=8, min=148.3ms, max=317.0ms
+  task_sampling: mean=287.0ms, total=2.01s, count=7, min=253.2ms, max=319.7ms
+  task_sampling_failed: mean=153.0ms, total=153.0ms, count=1, min=153.0ms, max=153.0ms
+  scene_randomize: mean=1.2ms, total=9.9ms, count=8, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=281.3us, total=2.3ms, count=8, min=0.2ms, max=0.4ms
+  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=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:25:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:25:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183859m	[env.py: 870]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38148626 -0.89599395 -0.18385858] yaw=-58.9deg	[env.py: 1019]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45136754 -1.02219271 -0.18385858] yaw=-73.1deg	[env.py: 1019]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31162725 -0.94896132 -0.18385858] yaw=-41.9deg	[env.py: 1019]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=83.6ms, total=83.7ms	[env.py: 1075]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.381, -0.896, -0.184)	[env.py: 1079]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg	[env.py: 1082]
+05/13 23:25:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:05 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:05 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 23:25:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:07 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:25:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:25:07 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 23:25:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:09 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.701[m] 90.427[deg]	[grasp_sample.py: 539]
+05/13 23:25:10 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:11 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 23:25:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113217m	[env.py: 870]
+05/13 23:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69792255 -0.94866723 -0.1132174 ] yaw=-81.1deg	[env.py: 1019]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.73773726 -0.80681684 -0.1132174 ] yaw=-62.3deg	[env.py: 1019]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.8ms	[env.py: 1075]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.698, -0.949, -0.113)	[env.py: 1079]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 23:25:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 23:25:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:12 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:12 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 23:25:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.644s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:13 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.655[m] 95.447[deg]	[grasp_sample.py: 539]
+05/13 23:25:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:13 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:25:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:25:13 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/13 23:25:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:25:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:25:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.60s (batch: 2.99s, save: 5.62s)	[pipeline.py: 300]
+05/13 23:25:16 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.34s:
+  episode_total: mean=83.27s, total=83.27s, count=1, min=83266.3ms, max=83266.3ms
+  sensor_polling: mean=151.3ms, total=44.03s, count=291, min=134.3ms, max=495.8ms
+  save_trajectories: mean=5.62s, total=5.62s, count=1, min=5618.3ms, max=5618.3ms
+  save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2985.7ms, max=2985.7ms
+  physics_step: mean=9.4ms, total=2.74s, count=291, min=7.6ms, max=14.4ms
+  task_sampling: mean=340.9ms, total=340.9ms, count=1, min=340.9ms, max=340.9ms
+  task_specific_sample: mean=338.3ms, total=338.3ms, count=1, min=338.3ms, max=338.3ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=250.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:25:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:18 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 23:25:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158792m	[env.py: 870]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57472064 -0.8668265  -0.1587924 ] yaw=-43.9deg	[env.py: 1019]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02857498 -1.29908727 -0.1587924 ] yaw=-40.9deg	[env.py: 1019]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:18 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 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.867, -0.159)	[env.py: 1079]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg	[env.py: 1082]
+05/13 23:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:18 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:25:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:25:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:25:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.07s (batch: 2.63s, save: 4.44s)	[pipeline.py: 300]
+05/13 23:25:20 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=2.76s:
+  episode_total: mean=7.36s, total=88.28s, count=12, min=93.7ms, max=62516.7ms
+  sensor_polling: mean=149.2ms, total=36.56s, count=245, min=135.6ms, max=480.2ms
+  save_trajectories: mean=4.44s, total=4.44s, count=1, min=4441.6ms, max=4441.6ms
+  task_specific_sample: mean=259.4ms, total=3.11s, count=12, min=91.4ms, max=312.9ms
+  task_sampling: mean=275.5ms, total=2.76s, count=10, min=214.7ms, max=315.1ms
+  save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2632.8ms, max=2632.8ms
+  physics_step: mean=9.6ms, total=2.36s, count=245, min=7.6ms, max=14.4ms
+  task_sampling_failed: mean=191.3ms, total=382.5ms, count=2, min=93.7ms, max=288.8ms
+  scene_randomize: mean=863.7us, total=10.4ms, count=12, min=0.7ms, max=1.1ms
+  mj_forward_sync: mean=241.9us, total=2.9ms, count=12, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.7us, total=0.2ms, count=10, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:25:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:22 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.698[m] 86.591[deg]	[grasp_sample.py: 539]
+05/13 23:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:25:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:22 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 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156354m	[env.py: 870]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50607171 -0.95404303 -0.15635432] yaw=-86.0deg	[env.py: 1019]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0941954  -1.11572742 -0.15635432] yaw=-35.2deg	[env.py: 1019]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66848757 -0.93451302 -0.15635432] yaw=-60.9deg	[env.py: 1019]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.3ms, total=117.3ms	[env.py: 1075]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -0.954, -0.156)	[env.py: 1079]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.0 deg	[env.py: 1082]
+05/13 23:25:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:22 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:22 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:22 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 23:25:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:23 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:23 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.670[m] 93.301[deg]	[grasp_sample.py: 539]
+05/13 23:25:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:25:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128382m	[env.py: 870]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51834554 -0.96704668 -0.1283822 ] yaw=-56.0deg	[env.py: 1019]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25173726 -1.14389409 -0.1283822 ] yaw=-15.5deg	[env.py: 1019]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=345.0ms, total=345.1ms	[env.py: 1075]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.967, -0.128)	[env.py: 1079]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.0 deg	[env.py: 1082]
+05/13 23:25:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:24 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:25:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:25:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:25:26 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 23:25:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.105s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.630[m] 79.768[deg]	[grasp_sample.py: 539]
+05/13 23:25:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.814s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:27 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.434[m] 59.062[deg]	[grasp_sample.py: 539]
+05/13 23:25:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:27 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:25:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:25:29 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 23:25:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:29 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 23:25:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114005m	[env.py: 870]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81916852 -0.81576088 -0.11400504] yaw=-66.9deg	[env.py: 1019]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=102.0ms, total=102.0ms	[env.py: 1075]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.819, -0.816, -0.114)	[env.py: 1079]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.9 deg	[env.py: 1082]
+05/13 23:25:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:29 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:29 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 23:25:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.952s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:31 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.728[m] 99.891[deg]	[grasp_sample.py: 539]
+05/13 23:25:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:32 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 23:25:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:33 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.107[m] 6.554[deg]	[grasp_sample.py: 539]
+05/13 23:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:33 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:25:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:25:34 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 23:25:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:35 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 23:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:35 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 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179398m	[env.py: 870]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00931949 -1.37705727 -0.17939829] yaw=-46.5deg	[env.py: 1019]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.70905923 -0.78220157 -0.17939829] yaw=-98.4deg	[env.py: 1019]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.0ms	[env.py: 1075]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.377, -0.179)	[env.py: 1079]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg	[env.py: 1082]
+05/13 23:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:35 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:36 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 23:25:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.544s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:25:37 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:25:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:25:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131311m	[env.py: 870]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53566636 -0.94448017 -0.13131121] yaw=-85.8deg	[env.py: 1019]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.79398005 -0.69469962 -0.13131121] yaw=-96.8deg	[env.py: 1019]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.944, -0.131)	[env.py: 1079]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.8 deg	[env.py: 1082]
+05/13 23:25:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:39 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:39 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 23:25:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:25:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:25:44 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 23:25:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.380s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:47 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.548[m] 69.366[deg]	[grasp_sample.py: 539]
+05/13 23:25:47 INFO: [Worker 0] Feasibility-checked 242 grasps in 7.268s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:47 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.666[m] 105.927[deg]	[grasp_sample.py: 539]
+05/13 23:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:47 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 23:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 15.307s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:49 INFO: [Worker 0] Feasible grasp found 571 (originally 264): w/ 0.548[m] 76.770[deg]	[grasp_sample.py: 539]
+05/13 23:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:50 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:25:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:52 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 23:25:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:52 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 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173494m	[env.py: 870]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39196834 -0.92108595 -0.17349413] yaw=-61.5deg	[env.py: 1019]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09535605 -1.12361212 -0.17349413] yaw=-51.8deg	[env.py: 1019]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07581666 -1.33312669 -0.17349413] yaw=-48.5deg	[env.py: 1019]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -0.921, -0.173)	[env.py: 1079]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.5 deg	[env.py: 1082]
+05/13 23:25:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:52 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:25:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:25:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:25:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:25:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:25:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:25:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.189s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:55 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.739[m] 92.182[deg]	[grasp_sample.py: 539]
+05/13 23:25:56 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:25:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:25:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:25:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:25:57 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 23:25:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:25:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138115m	[env.py: 870]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:25:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45476202 -0.99621256 -0.13811455] yaw=-57.8deg	[env.py: 1019]
+05/13 23:25:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64963298 -0.84541793 -0.13811455] yaw=-98.3deg	[env.py: 1019]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:25:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.8ms, total=135.9ms	[env.py: 1075]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.996, -0.138)	[env.py: 1079]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/13 23:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 23:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:25:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:25:58 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:25:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:25:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:25:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:25:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:25:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:58 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.546[m] 70.161[deg]	[grasp_sample.py: 539]
+05/13 23:25:59 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:25:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.465s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:25:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.635[m] 78.388[deg]	[grasp_sample.py: 539]
+05/13 23:25:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:25:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:25:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:01 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 23:26:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133201m	[env.py: 870]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23133084 -1.22121039 -0.13320108] yaw=-46.8deg	[env.py: 1019]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.82217456 -0.92792848 -0.13320108] yaw=-83.5deg	[env.py: 1019]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37531115 -1.10253879 -0.13320108] yaw=-28.6deg	[env.py: 1019]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms	[env.py: 1075]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.231, -1.221, -0.133)	[env.py: 1079]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 23:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:01 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:01 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 23:26:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 93.924[deg]	[grasp_sample.py: 539]
+05/13 23:26:03 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:26:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:05 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 23:26:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148518m	[env.py: 870]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=173.7ms, total=173.7ms	[env.py: 1105]
+05/13 23:26:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:26:05 ERROR: [Worker 0] Worker 0 house 1 episode 21 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:26:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:07 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 23:26:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:07 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 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128810m	[env.py: 870]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.45646584 -0.85617431 -0.12881024] yaw=-73.1deg	[env.py: 1019]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62188546 -0.8713082  -0.12881024] yaw=-50.2deg	[env.py: 1019]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.37924683 -1.10318238 -0.12881024] yaw=-37.9deg	[env.py: 1019]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.5ms, total=157.5ms	[env.py: 1075]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.456, -0.856, -0.129)	[env.py: 1079]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.1 deg	[env.py: 1082]
+05/13 23:26:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m	[env.py: 1086]
+05/13 23:26:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:08 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:11 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:26:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:26:15 INFO: [Worker 0] Feasibility-checked 242 grasps in 6.811s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:15 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.762[m] 107.342[deg]	[grasp_sample.py: 539]
+05/13 23:26:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:15 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:26:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:17 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 23:26:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:17 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 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160644m	[env.py: 870]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02739347 -1.33137667 -0.16064429] yaw=-39.6deg	[env.py: 1019]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:17 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 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.027, -1.331, -0.161)	[env.py: 1079]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 23:26:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m	[env.py: 1086]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:17 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:19 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:26:19 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:26:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:26:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127579m	[env.py: 870]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39408478 -0.89234519 -0.12757927] yaw=-63.5deg	[env.py: 1019]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.03688938 -1.29080708 -0.12757927] yaw=-33.4deg	[env.py: 1019]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.9ms, total=171.9ms	[env.py: 1075]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.394, -0.892, -0.128)	[env.py: 1079]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg	[env.py: 1082]
+05/13 23:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:21 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:21 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 23:26:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:22 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:26:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:26:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:22 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.109[m] 9.131[deg]	[grasp_sample.py: 539]
+05/13 23:26:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:23 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.730[m] 84.809[deg]	[grasp_sample.py: 539]
+05/13 23:26:23 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:26:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:26:23 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:26:24 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:26:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:26 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 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159879m	[env.py: 870]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66565982 -0.92079058 -0.15987889] yaw=-83.8deg	[env.py: 1019]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.09093858 -1.1920153  -0.15987889] yaw=-57.3deg	[env.py: 1019]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=433.9ms, total=433.9ms	[env.py: 1075]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.666, -0.921, -0.160)	[env.py: 1079]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.8 deg	[env.py: 1082]
+05/13 23:26:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:26 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:26 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 23:26:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:26:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:26:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.40s (batch: 2.76s, save: 4.64s)	[pipeline.py: 300]
+05/13 23:26:31 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.81s:
+  episode_total: mean=35.83s, total=71.66s, count=2, min=4212.7ms, max=67451.9ms
+  sensor_polling: mean=149.5ms, total=38.87s, count=260, min=137.5ms, max=663.1ms
+  save_trajectories: mean=4.64s, total=4.64s, count=1, min=4643.5ms, max=4643.5ms
+  save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2758.5ms, max=2758.5ms
+  physics_step: mean=9.5ms, total=2.47s, count=260, min=7.9ms, max=14.6ms
+  task_sampling: mean=403.1ms, total=806.1ms, count=2, min=294.4ms, max=511.8ms
+  task_specific_sample: mean=400.7ms, total=801.5ms, count=2, min=291.9ms, max=509.5ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=240.6us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:26:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:26:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:26:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:33 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 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153460m	[env.py: 870]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08348415 -1.26407572 -0.15345982] yaw=-38.2deg	[env.py: 1019]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.76009711 -0.93267283 -0.15345982] yaw=-92.5deg	[env.py: 1019]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7141872  -0.96552292 -0.15345982] yaw=-94.4deg	[env.py: 1019]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.8ms, total=183.8ms	[env.py: 1075]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.264, -0.153)	[env.py: 1079]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg	[env.py: 1082]
+05/13 23:26:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:33 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.847s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:33 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.612[m] 96.272[deg]	[grasp_sample.py: 539]
+05/13 23:26:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:34 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:26:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:34 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:26:35 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.466s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:26:35 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:26:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:26:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141459m	[env.py: 870]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84352259 -0.86419019 -0.14145877] yaw=-109.5deg	[env.py: 1019]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.3ms, total=171.3ms	[env.py: 1075]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.844, -0.864, -0.141)	[env.py: 1079]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.5 deg	[env.py: 1082]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:36 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:36 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.565s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:36 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.699[m] 97.608[deg]	[grasp_sample.py: 539]
+05/13 23:26:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:26:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112993m	[env.py: 870]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12087289 -1.30344666 -0.11299284] yaw=-36.3deg	[env.py: 1019]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.87788129 -0.85019281 -0.11299284] yaw=-111.1deg	[env.py: 1019]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51139647 -0.72738238 -0.11299284] yaw=-73.1deg	[env.py: 1019]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.2ms, total=105.2ms	[env.py: 1075]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.121, -1.303, -0.113)	[env.py: 1079]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.3 deg	[env.py: 1082]
+05/13 23:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:37 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:38 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.542s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:38 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.644[m] 89.357[deg]	[grasp_sample.py: 539]
+05/13 23:26:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:26:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:26:47 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 23:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:26:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:26:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:26:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.130s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:49 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.554[m] 70.886[deg]	[grasp_sample.py: 539]
+05/13 23:26:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:26:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:52 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:26:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:26:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:26:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.53s (batch: 2.97s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:26:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:26:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:26:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:26:55 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 23:26:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:55 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.76s:
+  episode_total: mean=38.49s, total=115.48s, count=3, min=1884.1ms, max=76485.3ms
+  sensor_polling: mean=150.5ms, total=62.59s, count=416, min=131.9ms, max=375.8ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4559.4ms, max=4559.4ms
+  physics_step: mean=9.8ms, total=4.08s, count=416, min=8.5ms, max=31.2ms
+  save_batch_prep: mean=2.97s, total=2.97s, count=1, min=2965.9ms, max=2965.9ms
+  task_sampling: mean=254.6ms, total=763.8ms, count=3, min=234.8ms, max=284.0ms
+  task_specific_sample: mean=251.8ms, total=755.3ms, count=3, min=232.1ms, max=281.0ms
+  scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=252.2us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.2us, 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 23:26:56 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:56 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.546[m] 69.725[deg]	[grasp_sample.py: 539]
+05/13 23:26:56 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:26:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:57 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 23:26:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:57 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 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174350m	[env.py: 870]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 180.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59874461 -1.00046278 -0.17434991] yaw=-74.1deg	[env.py: 1019]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37445406 -1.13484601 -0.17434991] yaw=-29.4deg	[env.py: 1019]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44462435 -0.88436946 -0.17434991] yaw=-87.6deg	[env.py: 1019]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.8ms, total=93.8ms	[env.py: 1075]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -1.000, -0.174)	[env.py: 1079]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.1 deg	[env.py: 1082]
+05/13 23:26:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:57 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:57 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 23:26:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:26:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:26:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:26:58 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 23:26:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:26:58 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 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115792m	[env.py: 870]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:26:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39884522 -0.79336757 -0.11579237] yaw=-50.7deg	[env.py: 1019]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:26:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms	[env.py: 1075]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.793, -0.116)	[env.py: 1079]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg	[env.py: 1082]
+05/13 23:26:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m	[env.py: 1086]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:26:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:26:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:26:58 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:26:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:26:58 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 23:26:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:26:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:26:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.834s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:26:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.576[m] 92.259[deg]	[grasp_sample.py: 539]
+05/13 23:26:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:26:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:26:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.519s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:27:00 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:27:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:02 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 23:27:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:02 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 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153368m	[env.py: 870]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 33.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.43356529 -1.06054803 -0.15336833] yaw=-59.1deg	[env.py: 1019]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=355.8ms, total=355.8ms	[env.py: 1075]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.061, -0.153)	[env.py: 1079]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg	[env.py: 1082]
+05/13 23:27:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:02 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:02 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 23:27:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:27:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.626[m] 95.256[deg]	[grasp_sample.py: 539]
+05/13 23:27:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:27:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:27:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:27:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:27:05 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 23:27:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:27:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:27:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.75s (batch: 3.13s, save: 4.62s)	[pipeline.py: 300]
+05/13 23:27:13 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.85s:
+  episode_total: mean=35.94s, total=107.82s, count=3, min=4082.9ms, max=75649.9ms
+  sensor_polling: mean=148.5ms, total=46.50s, count=313, min=132.0ms, max=420.1ms
+  save_trajectories: mean=4.62s, total=4.62s, count=1, min=4619.4ms, max=4619.4ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3130.4ms, max=3130.4ms
+  physics_step: mean=9.7ms, total=3.02s, count=313, min=7.3ms, max=59.7ms
+  task_sampling: mean=282.2ms, total=846.7ms, count=3, min=278.0ms, max=285.1ms
+  task_specific_sample: mean=279.8ms, total=839.3ms, count=3, min=275.8ms, max=282.8ms
+  scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=240.8us, total=0.7ms, count=3, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:15 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 23:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176509m	[env.py: 870]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19355942 -1.17638911 -0.17650925] yaw=-57.4deg	[env.py: 1019]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3156972  -0.89389004 -0.17650925] yaw=-25.9deg	[env.py: 1019]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31367976 -1.16744623 -0.17650925] yaw=-14.3deg	[env.py: 1019]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=278.2ms, total=278.2ms	[env.py: 1075]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.176, -0.177)	[env.py: 1079]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.4 deg	[env.py: 1082]
+05/13 23:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:15 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:15 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 23:27:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.633s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.720[m] 101.187[deg]	[grasp_sample.py: 539]
+05/13 23:27:18 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:27:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:20 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 23:27:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:20 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 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126219m	[env.py: 870]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59104732 -0.89265101 -0.12621918] yaw=-38.6deg	[env.py: 1019]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.3ms	[env.py: 1075]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -0.893, -0.126)	[env.py: 1079]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.6 deg	[env.py: 1082]
+05/13 23:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:20 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:20 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 23:27:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:27:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.461s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.680[m] 80.793[deg]	[grasp_sample.py: 539]
+05/13 23:27:23 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:27:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:23 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:24 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 23:27:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:24 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 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168403m	[env.py: 870]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.0606612  -1.30776412 -0.1684034 ] yaw=0.5deg	[env.py: 1019]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43283225 -0.96279706 -0.1684034 ] yaw=-47.4deg	[env.py: 1019]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=310.0ms, total=310.0ms	[env.py: 1075]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -1.308, -0.168)	[env.py: 1079]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.5 deg	[env.py: 1082]
+05/13 23:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:25 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:25 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 23:27:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:26 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.453s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:27:26 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:27:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:28 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 23:27:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:28 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 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170761m	[env.py: 870]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15730764 -1.07518145 -0.17076144] yaw=-48.0deg	[env.py: 1019]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25844769 -1.09215917 -0.17076144] yaw=-37.1deg	[env.py: 1019]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.73603109 -0.81852441 -0.17076144] yaw=-85.0deg	[env.py: 1019]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.5ms, total=122.5ms	[env.py: 1075]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.157, -1.075, -0.171)	[env.py: 1079]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.0 deg	[env.py: 1082]
+05/13 23:27:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:28 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:28 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 23:27:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:30 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.503s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:27:30 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:27:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:27:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:31 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 23:27:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:31 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 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167861m	[env.py: 870]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18761982 -1.31204175 -0.16786054] yaw=-35.4deg	[env.py: 1019]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.67559492 -0.85629866 -0.16786054] yaw=-79.2deg	[env.py: 1019]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.75271901 -0.84183285 -0.16786054] yaw=-95.4deg	[env.py: 1019]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=203.0ms, total=203.0ms	[env.py: 1075]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.312, -0.168)	[env.py: 1079]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg	[env.py: 1082]
+05/13 23:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m	[env.py: 1086]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:31 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:31 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 23:27:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:34 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.323s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:34 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.611[m] 90.990[deg]	[grasp_sample.py: 539]
+05/13 23:27:34 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:27:35 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:27:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:27:35 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:27:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:27:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:36 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 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185108m	[env.py: 870]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70874596 -0.74242495 -0.185108  ] yaw=-65.6deg	[env.py: 1019]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.90802395 -0.83526051 -0.185108  ] yaw=-80.1deg	[env.py: 1019]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.61348072 -0.8732566  -0.185108  ] yaw=-52.2deg	[env.py: 1019]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=201.2ms, total=201.3ms	[env.py: 1075]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.709, -0.742, -0.185)	[env.py: 1079]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.6 deg	[env.py: 1082]
+05/13 23:27:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:36 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:36 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 23:27:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:27:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:27:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:27:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 102 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:40 INFO: [Worker 0] Feasibility-checked 102 grasps in 0.340s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:40 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.024[m] 4.029[deg]	[grasp_sample.py: 539]
+05/13 23:27:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:27:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:27:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.157s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:42 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.757[m] 92.650[deg]	[grasp_sample.py: 539]
+05/13 23:27:42 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:27:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:27:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:27:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.41s (batch: 2.87s, save: 4.54s)	[pipeline.py: 300]
+05/13 23:27:43 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.60s:
+  episode_total: mean=34.08s, total=68.16s, count=2, min=1935.4ms, max=66225.5ms
+  sensor_polling: mean=152.8ms, total=40.65s, count=266, min=137.6ms, max=516.7ms
+  save_trajectories: mean=4.54s, total=4.54s, count=1, min=4536.5ms, max=4536.5ms
+  save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2870.9ms, max=2870.9ms
+  physics_step: mean=9.6ms, total=2.56s, count=266, min=8.5ms, max=15.7ms
+  task_sampling: mean=298.3ms, total=596.6ms, count=2, min=247.0ms, max=349.6ms
+  task_specific_sample: mean=296.0ms, total=591.9ms, count=2, min=244.8ms, max=347.1ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=246.3us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.9us, 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 23:27:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:27:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:44 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 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139673m	[env.py: 870]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87389293 -0.83258086 -0.13967287] yaw=-57.2deg	[env.py: 1019]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51820108 -0.93898987 -0.13967287] yaw=-87.1deg	[env.py: 1019]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86280459 -0.67960878 -0.13967287] yaw=-59.0deg	[env.py: 1019]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.8ms	[env.py: 1075]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.874, -0.833, -0.140)	[env.py: 1079]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.2 deg	[env.py: 1082]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:44 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:44 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 23:27:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:27:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:27:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:27:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:27:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:27:44 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 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154140m	[env.py: 870]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:27:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36998975 -1.13577285 -0.15413995] yaw=-64.4deg	[env.py: 1019]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:27:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms	[env.py: 1075]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.136, -0.154)	[env.py: 1079]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg	[env.py: 1082]
+05/13 23:27:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m	[env.py: 1086]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:27:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:27:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:27:45 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:27:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:27:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:27:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:27:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:27:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:45 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.736[m] 80.843[deg]	[grasp_sample.py: 539]
+05/13 23:27:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:27:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:27:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:27:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:27:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:27:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.651[m] 88.260[deg]	[grasp_sample.py: 539]
+05/13 23:27:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:27:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:27:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:27:51 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:27:52 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:27:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:28:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:28:04 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 23:28:04 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:28:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:28:04 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 23:28:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:28:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:28:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:28:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.59s (batch: 3.09s, save: 4.49s)	[pipeline.py: 300]
+05/13 23:28:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:28:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:28:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.23s (batch: 3.01s, save: 5.21s)	[pipeline.py: 300]
+05/13 23:28:13 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=3.78s:
+  episode_total: mean=13.88s, total=166.61s, count=12, min=189.1ms, max=70961.3ms
+  sensor_polling: mean=156.3ms, total=67.98s, count=435, min=135.8ms, max=420.2ms
+  save_trajectories: mean=4.49s, total=4.49s, count=1, min=4495.0ms, max=4495.0ms
+  physics_step: mean=9.7ms, total=4.22s, count=435, min=7.5ms, max=16.0ms
+  task_specific_sample: mean=327.5ms, total=3.93s, count=12, min=177.0ms, max=591.8ms
+  task_sampling: mean=343.8ms, total=3.78s, count=11, min=219.4ms, max=594.8ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3090.2ms, max=3090.2ms
+  task_sampling_failed: mean=189.1ms, total=189.1ms, count=1, min=189.1ms, max=189.1ms
+  scene_randomize: mean=1.2ms, total=14.2ms, count=12, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=285.0us, total=3.4ms, count=12, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.9us, total=0.2ms, count=11, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:13 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.23s:
+  episode_total: mean=75.99s, total=75.99s, count=1, min=75992.5ms, max=75992.5ms
+  sensor_polling: mean=161.7ms, total=47.06s, count=291, min=135.9ms, max=435.7ms
+  save_trajectories: mean=5.21s, total=5.21s, count=1, min=5213.6ms, max=5213.6ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3012.5ms, max=3012.5ms
+  physics_step: mean=10.3ms, total=2.99s, count=291, min=7.8ms, max=26.3ms
+  task_sampling: mean=227.2ms, total=227.2ms, count=1, min=227.2ms, max=227.2ms
+  task_specific_sample: mean=224.5ms, total=224.5ms, count=1, min=224.5ms, max=224.5ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=243.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  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 23:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:14 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 23:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:14 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 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123819m	[env.py: 870]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21590077 -1.00015835 -0.12381864] yaw=-59.3deg	[env.py: 1019]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.04266074 -1.26174918 -0.12381864] yaw=-0.7deg	[env.py: 1019]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=161.9ms, total=161.9ms	[env.py: 1075]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.216, -1.000, -0.124)	[env.py: 1079]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg	[env.py: 1082]
+05/13 23:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:15 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:15 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 23:28:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196135m	[env.py: 870]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55194201 -0.98118789 -0.19613466] yaw=-38.1deg	[env.py: 1019]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:15 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 23:28:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14864407 -1.35986088 -0.19613466] yaw=-17.2deg	[env.py: 1019]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25986722 -1.27949925 -0.19613466] yaw=-6.8deg	[env.py: 1019]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.9ms, total=108.9ms	[env.py: 1075]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.981, -0.196)	[env.py: 1079]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.1 deg	[env.py: 1082]
+05/13 23:28:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:15 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:15 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 23:28:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.440s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:28:16 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:28:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.413s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.618[m] 94.714[deg]	[grasp_sample.py: 539]
+05/13 23:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:17 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:17 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 23:28:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:18 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 23:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142376m	[env.py: 870]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42034291 -0.89853823 -0.14237558] yaw=-30.7deg	[env.py: 1019]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28782939 -1.24481633 -0.14237558] yaw=-33.6deg	[env.py: 1019]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=100.3ms, total=100.3ms	[env.py: 1075]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.899, -0.142)	[env.py: 1079]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.7 deg	[env.py: 1082]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m	[env.py: 1086]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:18 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:18 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 23:28:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:18 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 23:28:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147350m	[env.py: 870]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.341606   -1.00724889 -0.14734967] yaw=-64.3deg	[env.py: 1019]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms	[env.py: 1075]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.007, -0.147)	[env.py: 1079]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 23:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 23:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:19 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:28:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.702[m] 91.461[deg]	[grasp_sample.py: 539]
+05/13 23:28:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:21 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 23:28:25 INFO: [Worker 0] Feasibility-checked 240 grasps in 7.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:25 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.763[m] 92.307[deg]	[grasp_sample.py: 539]
+05/13 23:28:26 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:28:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:28 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 23:28:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:28 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 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137865m	[env.py: 870]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.75762445 -0.9113696  -0.13786545] yaw=-58.2deg	[env.py: 1019]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75731355 -0.7794227  -0.13786545] yaw=-52.6deg	[env.py: 1019]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04795708 -1.1547484  -0.13786545] yaw=-8.9deg	[env.py: 1019]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:28 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 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.758, -0.911, -0.138)	[env.py: 1079]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg	[env.py: 1082]
+05/13 23:28:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:28 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:28:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.670[m] 85.655[deg]	[grasp_sample.py: 539]
+05/13 23:28:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:28:30 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:28:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:38 INFO: [Worker 0] Feasibility-checked 242 grasps in 20.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:38 INFO: [Worker 0] Feasible grasp found 246 (originally 246): w/ 0.101[m] 20.406[deg]	[grasp_sample.py: 539]
+05/13 23:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:39 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:28:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136398m	[env.py: 870]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79761868 -0.94230393 -0.13639793] yaw=-65.2deg	[env.py: 1019]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.67739282 -0.74528513 -0.13639793] yaw=-74.2deg	[env.py: 1019]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07174742 -1.11902467 -0.13639793] yaw=-39.3deg	[env.py: 1019]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.7ms, total=123.7ms	[env.py: 1075]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.798, -0.942, -0.136)	[env.py: 1079]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg	[env.py: 1082]
+05/13 23:28:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:40 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:41 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 23:28:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:41 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.626[m] 91.552[deg]	[grasp_sample.py: 539]
+05/13 23:28:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:41 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:28:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:28:41 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 23:28:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:28:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.793s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.475[m] 56.531[deg]	[grasp_sample.py: 539]
+05/13 23:28:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:28:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:28:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.65s (batch: 3.07s, save: 4.58s)	[pipeline.py: 300]
+05/13 23:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:49 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 23:28:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:50 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.29s:
+  episode_total: mean=65.44s, total=65.44s, count=1, min=65442.1ms, max=65442.1ms
+  sensor_polling: mean=154.2ms, total=40.39s, count=262, min=137.3ms, max=680.7ms
+  save_trajectories: mean=4.58s, total=4.58s, count=1, min=4577.0ms, max=4577.0ms
+  save_batch_prep: mean=3.07s, total=3.07s, count=1, min=3074.4ms, max=3074.4ms
+  physics_step: mean=9.7ms, total=2.55s, count=262, min=7.7ms, max=18.7ms
+  task_sampling: mean=294.6ms, total=294.6ms, count=1, min=294.6ms, max=294.6ms
+  task_specific_sample: mean=292.1ms, total=292.1ms, count=1, min=292.1ms, max=292.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=272.9us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.0us, 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 23:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:50 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:50 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.471[m] 55.680[deg]	[grasp_sample.py: 539]
+05/13 23:28:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:51 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 23:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:51 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 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145585m	[env.py: 870]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.06856707 -1.31851652 -0.14558509] yaw=-15.1deg	[env.py: 1019]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=124.4ms, total=124.4ms	[env.py: 1075]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.069, -1.319, -0.146)	[env.py: 1079]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.1 deg	[env.py: 1082]
+05/13 23:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:52 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:28:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:53 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 23:28:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:53 INFO: [Worker 0] Feasibility-checked 233 grasps in 1.496s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:28:53 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.467[m] 62.827[deg]	[grasp_sample.py: 539]
+05/13 23:28:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:28:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:28:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110421m	[env.py: 870]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.5004146  -1.01345142 -0.11042102] yaw=-52.4deg	[env.py: 1019]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=341.2ms, total=341.3ms	[env.py: 1075]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.500, -1.013, -0.110)	[env.py: 1079]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg	[env.py: 1082]
+05/13 23:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:28:55 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:28:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:28:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:28:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:56 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 23:28:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:56 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.883s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:56 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.471[m] 55.681[deg]	[grasp_sample.py: 539]
+05/13 23:28:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.593s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:28:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.608[m] 87.095[deg]	[grasp_sample.py: 539]
+05/13 23:28:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:28:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:28:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:28:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:28:59 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 23:28:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:28:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:28:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.795s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:00 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.467[m] 62.829[deg]	[grasp_sample.py: 539]
+05/13 23:29:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:29:02 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:29:02 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=0.78s:
+  episode_total: mean=14.65s, total=43.95s, count=3, min=1939.5ms, max=34151.0ms
+  sensor_polling: mean=157.9ms, total=12.95s, count=82, min=143.1ms, max=432.2ms
+  task_sampling: mean=261.4ms, total=784.2ms, count=3, min=211.4ms, max=294.7ms
+  task_specific_sample: mean=258.9ms, total=776.6ms, count=3, min=208.9ms, max=292.1ms
+  physics_step: mean=8.9ms, total=732.5ms, count=82, min=6.2ms, max=14.1ms
+  scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=261.0us, total=0.8ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:29:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:04 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 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135150m	[env.py: 870]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.73876379 -0.81447686 -0.13515016] yaw=-102.7deg	[env.py: 1019]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6047476  -0.78755575 -0.13515016] yaw=-65.0deg	[env.py: 1019]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.3ms, total=221.3ms	[env.py: 1075]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.739, -0.814, -0.135)	[env.py: 1079]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.7 deg	[env.py: 1082]
+05/13 23:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m	[env.py: 1086]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:04 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:29:05 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 23:29:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:06 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.467[m] 62.829[deg]	[grasp_sample.py: 539]
+05/13 23:29:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.227s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:07 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.744[m] 107.722[deg]	[grasp_sample.py: 539]
+05/13 23:29:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:08 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:29:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:12 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:29:12 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:29:12 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=2.80s:
+  episode_total: mean=13.25s, total=106.03s, count=8, min=1850.1ms, max=55029.5ms
+  sensor_polling: mean=148.1ms, total=32.15s, count=217, min=132.7ms, max=535.8ms
+  task_sampling: mean=350.6ms, total=2.80s, count=8, min=269.2ms, max=459.4ms
+  task_specific_sample: mean=348.5ms, total=2.79s, count=8, min=267.4ms, max=456.7ms
+  physics_step: mean=8.7ms, total=1.89s, count=217, min=6.3ms, max=16.4ms
+  scene_randomize: mean=991.1us, total=7.9ms, count=8, min=0.7ms, max=1.6ms
+  mj_forward_sync: mean=245.4us, total=2.0ms, count=8, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.8us, total=0.1ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:29:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:14 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 23:29:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:14 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 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134400m	[env.py: 870]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07219176 -1.33292971 -0.13439973] yaw=-9.0deg	[env.py: 1019]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.31316688 -0.84296519 -0.13439973] yaw=-65.3deg	[env.py: 1019]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32879933 -1.17749377 -0.13439973] yaw=-20.1deg	[env.py: 1019]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.7ms, total=70.7ms	[env.py: 1075]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.072, -1.333, -0.134)	[env.py: 1079]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.0 deg	[env.py: 1082]
+05/13 23:29:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:14 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:15 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.483s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:29:15 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:17 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 23:29:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182894m	[env.py: 870]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47662525 -1.01341964 -0.18289412] yaw=-74.0deg	[env.py: 1019]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.82293361 -0.65623801 -0.18289412] yaw=-89.6deg	[env.py: 1019]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68691728 -0.74246613 -0.18289412] yaw=-77.5deg	[env.py: 1019]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.5ms, total=162.5ms	[env.py: 1075]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -1.013, -0.183)	[env.py: 1079]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg	[env.py: 1082]
+05/13 23:29:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:17 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:17 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 23:29:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:29:18 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 23:29:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.247s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:19 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.644[m] 93.616[deg]	[grasp_sample.py: 539]
+05/13 23:29:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:29:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:19 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 23:29:19 INFO: [Worker 0] Feasibility-checked 241 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:19 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.157[m] 20.448[deg]	[grasp_sample.py: 539]
+05/13 23:29:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:22 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:29:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:29:22 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 23:29:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:28 INFO: [Worker 0] Feasibility-checked 248 grasps in 10.428s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:28 INFO: [Worker 0] Feasible grasp found 364 (originally 57): w/ 0.628[m] 90.392[deg]	[grasp_sample.py: 539]
+05/13 23:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:29:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:29:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.03s (batch: 3.26s, save: 4.77s)	[pipeline.py: 300]
+05/13 23:29:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:29:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:31 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.57s:
+  episode_total: mean=37.21s, total=74.42s, count=2, min=2316.5ms, max=72105.9ms
+  sensor_polling: mean=161.4ms, total=43.75s, count=271, min=137.8ms, max=385.3ms
+  save_trajectories: mean=4.77s, total=4.77s, count=1, min=4768.6ms, max=4768.6ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3264.2ms, max=3264.2ms
+  physics_step: mean=10.2ms, total=2.78s, count=271, min=7.6ms, max=15.7ms
+  task_sampling: mean=287.0ms, total=574.1ms, count=2, min=275.1ms, max=299.0ms
+  task_specific_sample: mean=284.6ms, total=569.1ms, count=2, min=272.5ms, max=296.6ms
+  scene_randomize: mean=1.3ms, total=2.5ms, count=2, min=1.1ms, max=1.4ms
+  mj_forward_sync: mean=258.2us, total=0.5ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:29:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:32 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 23:29:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:32 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 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143580m	[env.py: 870]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=133.2ms, total=133.2ms	[env.py: 1105]
+05/13 23:29:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:29:32 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:29:33 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 23:29:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:29:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:34 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 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156212m	[env.py: 870]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31282955 -1.06434019 -0.15621182] yaw=-28.3deg	[env.py: 1019]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:34 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 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.064, -0.156)	[env.py: 1079]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg	[env.py: 1082]
+05/13 23:29:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:34 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:36 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.564s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.707[m] 86.042[deg]	[grasp_sample.py: 539]
+05/13 23:29:37 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:38 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 23:29:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131855m	[env.py: 870]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47667606 -1.02908134 -0.13185492] yaw=-64.6deg	[env.py: 1019]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.81986779 -0.85031393 -0.13185492] yaw=-78.0deg	[env.py: 1019]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.5ms, total=194.5ms	[env.py: 1075]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -1.029, -0.132)	[env.py: 1079]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/13 23:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 23:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:39 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:39 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 23:29:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:40 INFO: [Worker 0] Feasibility-checked 247 grasps in 1.441s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.651[m] 83.291[deg]	[grasp_sample.py: 539]
+05/13 23:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:41 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:29:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:43 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 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193429m	[env.py: 870]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=126.6ms, total=126.6ms	[env.py: 1105]
+05/13 23:29:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:29:43 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 23:29:44 INFO: [Worker 0] Feasibility-checked 248 grasps in 10.027s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:44 INFO: [Worker 0] Feasible grasp found 364 (originally 57): w/ 0.628[m] 90.394[deg]	[grasp_sample.py: 539]
+05/13 23:29:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:44 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 23:29:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147210m	[env.py: 870]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.34218333 -1.10174663 -0.14721021] yaw=-23.5deg	[env.py: 1019]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=192.7ms, total=192.7ms	[env.py: 1075]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.102, -0.147)	[env.py: 1079]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.5 deg	[env.py: 1082]
+05/13 23:29:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m	[env.py: 1086]
+05/13 23:29:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:45 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:45 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 23:29:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 230 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:47 INFO: [Worker 0] Feasibility-checked 230 grasps in 2.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:47 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.662[m] 79.412[deg]	[grasp_sample.py: 539]
+05/13 23:29:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:48 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:29:48 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 23:29:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:29:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:29:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:29:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:29:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:29:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:29:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183287m	[env.py: 870]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43948705 -0.99545378 -0.18328693] yaw=-30.3deg	[env.py: 1019]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34388843 -1.04145587 -0.18328693] yaw=-54.8deg	[env.py: 1019]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:29:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=126.6ms, total=126.6ms	[env.py: 1075]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.439, -0.995, -0.183)	[env.py: 1079]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.3 deg	[env.py: 1082]
+05/13 23:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m	[env.py: 1086]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:29:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:29:50 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:29:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:29:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:29:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:29:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:29:51 INFO: [Worker 0] Feasibility-checked 235 grasps in 1.249s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:29:51 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.657[m] 78.689[deg]	[grasp_sample.py: 539]
+05/13 23:29:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:29:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:29:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:29:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:29:52 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:30:01 INFO: [Worker 0] Feasibility-checked 248 grasps in 11.383s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:01 INFO: [Worker 0] Feasible grasp found 364 (originally 57): w/ 0.628[m] 90.394[deg]	[grasp_sample.py: 539]
+05/13 23:30:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:30:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:30:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:04 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:30:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:30:04 INFO: [Worker 0] Preparing episode data: 275 timesteps	[save_utils.py: 278]
+05/13 23:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:30:06 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:30:06 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:30:06 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:30:06 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=False episode_total=0.40s:
+  episode_total: mean=62.41s, total=62.41s, count=1, min=62413.1ms, max=62413.1ms
+  sensor_polling: mean=152.2ms, total=10.65s, count=70, min=132.4ms, max=394.7ms
+  physics_step: mean=8.2ms, total=571.6ms, count=70, min=6.2ms, max=12.3ms
+  task_sampling: mean=397.7ms, total=397.7ms, count=1, min=397.7ms, max=397.7ms
+  task_specific_sample: mean=395.3ms, total=395.3ms, count=1, min=395.3ms, max=395.3ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=247.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.2us, 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 23:30:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:08 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 23:30:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:08 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 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134575m	[env.py: 870]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50261108 -0.99960909 -0.13457498] yaw=-83.7deg	[env.py: 1019]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04678781 -1.29033285 -0.13457498] yaw=-50.8deg	[env.py: 1019]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.3ms, total=143.3ms	[env.py: 1075]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -1.000, -0.135)	[env.py: 1079]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.7 deg	[env.py: 1082]
+05/13 23:30:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:09 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:09 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 23:30:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:11 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.735s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:11 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.678[m] 103.741[deg]	[grasp_sample.py: 539]
+05/13 23:30:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:30:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:30:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:12 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 23:30:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:30:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:30:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.91s (batch: 3.01s, save: 4.90s)	[pipeline.py: 300]
+05/13 23:30:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:13 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.78s:
+  episode_total: mean=39.77s, total=79.54s, count=2, min=1889.0ms, max=77655.0ms
+  sensor_polling: mean=154.8ms, total=42.42s, count=274, min=135.9ms, max=980.5ms
+  save_trajectories: mean=4.90s, total=4.90s, count=1, min=4896.5ms, max=4896.5ms
+  save_batch_prep: mean=3.01s, total=3.01s, count=1, min=3012.1ms, max=3012.1ms
+  physics_step: mean=9.7ms, total=2.67s, count=274, min=7.8ms, max=24.1ms
+  task_sampling: mean=390.4ms, total=780.9ms, count=2, min=286.7ms, max=494.2ms
+  task_specific_sample: mean=388.1ms, total=776.2ms, count=2, min=284.4ms, max=491.8ms
+  scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=0.8ms, max=1.3ms
+  mj_forward_sync: mean=237.3us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:30:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:30:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:14 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 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100675m	[env.py: 870]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18161799 -1.3499695  -0.10067467] yaw=-34.1deg	[env.py: 1019]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=158.0ms, total=158.0ms	[env.py: 1075]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.182, -1.350, -0.101)	[env.py: 1079]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg	[env.py: 1082]
+05/13 23:30:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:14 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:15 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 23:30:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:30:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.212s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:18 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.646[m] 84.981[deg]	[grasp_sample.py: 539]
+05/13 23:30:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:30:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:30:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:19 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:30:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:30:19 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:30:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:30:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:30:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.64s (batch: 3.16s, save: 4.48s)	[pipeline.py: 300]
+05/13 23:30:27 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.54s:
+  episode_total: mean=35.85s, total=71.70s, count=2, min=1800.5ms, max=69901.9ms
+  sensor_polling: mean=152.9ms, total=39.74s, count=260, min=138.7ms, max=399.5ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4480.9ms, max=4480.9ms
+  save_batch_prep: mean=3.16s, total=3.16s, count=1, min=3159.6ms, max=3159.6ms
+  physics_step: mean=9.8ms, total=2.54s, count=260, min=7.4ms, max=17.7ms
+  task_sampling: mean=271.8ms, total=543.7ms, count=2, min=227.4ms, max=316.3ms
+  task_specific_sample: mean=269.3ms, total=538.6ms, count=2, min=224.6ms, max=314.0ms
+  scene_randomize: mean=921.8us, total=1.8ms, count=2, min=0.8ms, max=1.0ms
+  mj_forward_sync: mean=250.9us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:30:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:29 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 23:30:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:29 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 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148507m	[env.py: 870]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14648577 -1.41415645 -0.14850692] yaw=-36.9deg	[env.py: 1019]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17344354 -1.21055924 -0.14850692] yaw=-25.2deg	[env.py: 1019]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.43122915 -0.89235073 -0.14850692] yaw=-33.2deg	[env.py: 1019]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=120.0ms, total=120.0ms	[env.py: 1075]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.414, -0.149)	[env.py: 1079]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg	[env.py: 1082]
+05/13 23:30:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:29 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:30:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.153s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:30 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.653[m] 82.951[deg]	[grasp_sample.py: 539]
+05/13 23:30:31 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:30:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:30:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:30:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:30:32 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 23:30:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:30:32 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 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143709m	[env.py: 870]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:30:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.71684001 -0.87718164 -0.14370922] yaw=-55.7deg	[env.py: 1019]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21125926 -1.41009979 -0.14370922] yaw=-40.6deg	[env.py: 1019]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.69267695 -0.80132347 -0.14370922] yaw=-87.2deg	[env.py: 1019]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:30:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.7ms, total=101.7ms	[env.py: 1075]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.717, -0.877, -0.144)	[env.py: 1079]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg	[env.py: 1082]
+05/13 23:30:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:30:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:30:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:30:33 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:30:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:30:33 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 23:30:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:30:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:30:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:30:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.871s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:30:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.655[m] 92.602[deg]	[grasp_sample.py: 539]
+05/13 23:30:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:30:34 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:30:34 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:30:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:37 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:30:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:30:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:30:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:49 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:30:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:30:49 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:30:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:30:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:30:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:30:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.85s (batch: 3.24s, save: 4.61s)	[pipeline.py: 300]
+05/13 23:30:58 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.24s:
+  episode_total: mean=12.80s, total=76.81s, count=6, min=133.1ms, max=68143.8ms
+  sensor_polling: mean=157.6ms, total=41.91s, count=266, min=137.5ms, max=283.9ms
+  save_trajectories: mean=4.61s, total=4.61s, count=1, min=4612.5ms, max=4612.5ms
+  save_batch_prep: mean=3.24s, total=3.24s, count=1, min=3237.7ms, max=3237.7ms
+  physics_step: mean=10.1ms, total=2.68s, count=266, min=7.6ms, max=13.7ms
+  task_specific_sample: mean=249.2ms, total=1.50s, count=6, min=130.1ms, max=335.8ms
+  task_sampling: mean=309.1ms, total=1.24s, count=4, min=272.6ms, max=337.9ms
+  task_sampling_failed: mean=137.2ms, total=274.4ms, count=2, min=133.1ms, max=141.3ms
+  scene_randomize: mean=1.0ms, total=6.2ms, count=6, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=263.0us, total=1.6ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.1us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:30:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:31:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:31:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:00 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 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111110m	[env.py: 870]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=364.5ms, total=364.5ms	[env.py: 1105]
+05/13 23:31:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:31:00 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:31:00 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:31:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:31:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:02 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:31:02 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 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187983m	[env.py: 870]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -79.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.72656168 -0.807362   -0.18798314] yaw=-70.8deg	[env.py: 1019]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57757822 -0.86765963 -0.18798314] yaw=-73.2deg	[env.py: 1019]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.87742165 -0.71789492 -0.18798314] yaw=-74.1deg	[env.py: 1019]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.4ms, total=286.5ms	[env.py: 1075]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.727, -0.807, -0.188)	[env.py: 1079]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.8 deg	[env.py: 1082]
+05/13 23:31:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:02 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:31:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:03 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.977s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:03 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.681[m] 91.263[deg]	[grasp_sample.py: 539]
+05/13 23:31:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:31:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:31:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:31:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:31:14 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:31:14 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:31:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:31:14 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:31:19 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:31:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:31:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:31:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.46s (batch: 2.90s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:31:21 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.32s:
+  episode_total: mean=67.35s, total=67.35s, count=1, min=67347.2ms, max=67347.2ms
+  sensor_polling: mean=152.5ms, total=40.27s, count=264, min=134.7ms, max=588.0ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4557.8ms, max=4557.8ms
+  save_batch_prep: mean=2.90s, total=2.90s, count=1, min=2903.0ms, max=2903.0ms
+  physics_step: mean=9.6ms, total=2.53s, count=264, min=7.9ms, max=14.1ms
+  task_sampling: mean=317.3ms, total=317.3ms, count=1, min=317.3ms, max=317.3ms
+  task_specific_sample: mean=314.9ms, total=314.9ms, count=1, min=314.9ms, max=314.9ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=245.9us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.0us, 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 23:31:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:31:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:31:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.25s (batch: 3.65s, save: 4.60s)	[pipeline.py: 300]
+05/13 23:31:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:23 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 23:31:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:23 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 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164263m	[env.py: 870]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:23 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.32s:
+  episode_total: mean=74.71s, total=74.71s, count=1, min=74706.2ms, max=74706.2ms
+  sensor_polling: mean=159.7ms, total=42.48s, count=266, min=145.3ms, max=386.1ms
+  save_trajectories: mean=4.60s, total=4.60s, count=1, min=4604.0ms, max=4604.0ms
+  save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3646.8ms, max=3646.8ms
+  physics_step: mean=9.9ms, total=2.63s, count=266, min=8.3ms, max=26.9ms
+  task_sampling: mean=323.5ms, total=323.5ms, count=1, min=323.5ms, max=323.5ms
+  task_specific_sample: mean=320.4ms, total=320.4ms, count=1, min=320.4ms, max=320.4ms
+  scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms
+  mj_forward_sync: mean=238.2us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36442253 -0.86175951 -0.16426316] yaw=-60.2deg	[env.py: 1019]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms	[env.py: 1075]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.862, -0.164)	[env.py: 1079]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg	[env.py: 1082]
+05/13 23:31:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:23 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:31:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:25 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 23:31:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:25 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 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103507m	[env.py: 870]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.575s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:31:25 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=133.5ms, total=133.5ms	[env.py: 1105]
+05/13 23:31:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:31:25 ERROR: [Worker 0] Worker 0 house 1 episode 34 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:31:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:27 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 23:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138903m	[env.py: 870]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20155663 -1.24427116 -0.13890323] yaw=-40.4deg	[env.py: 1019]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -101.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31662271 -1.10323507 -0.13890323] yaw=-48.8deg	[env.py: 1019]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.3ms, total=124.3ms	[env.py: 1075]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.244, -0.139)	[env.py: 1079]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.4 deg	[env.py: 1082]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:27 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:27 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 23:31:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:27 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 23:31:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:27 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 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166829m	[env.py: 870]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=123.8ms, total=123.9ms	[env.py: 1105]
+05/13 23:31:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:31:27 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:31:29 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:31:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:31:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:29 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 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127354m	[env.py: 870]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.07456306 -1.34066233 -0.1273536 ] yaw=3.1deg	[env.py: 1019]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=130.8ms, total=130.8ms	[env.py: 1075]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.075, -1.341, -0.127)	[env.py: 1079]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 3.1 deg	[env.py: 1082]
+05/13 23:31:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:29 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:31:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.065s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.692[m] 80.936[deg]	[grasp_sample.py: 539]
+05/13 23:31:30 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:31:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:31 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.551s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:31:31 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:31:31 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:31:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:31:31 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 23:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:32 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 23:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:32 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 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193765m	[env.py: 870]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18864855 -1.06946907 -0.19376486] yaw=-67.6deg	[env.py: 1019]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26816721 -1.20668704 -0.19376486] yaw=-35.2deg	[env.py: 1019]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47014897 -0.87884457 -0.19376486] yaw=-83.6deg	[env.py: 1019]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.2ms, total=134.2ms	[env.py: 1075]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.069, -0.194)	[env.py: 1079]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg	[env.py: 1082]
+05/13 23:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m	[env.py: 1086]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:32 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:31:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:33 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 23:31:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104280m	[env.py: 870]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24333627 -1.00447894 -0.10428004] yaw=-25.3deg	[env.py: 1019]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.83416868 -0.83311541 -0.10428004] yaw=-108.3deg	[env.py: 1019]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=135.7ms, total=135.7ms	[env.py: 1075]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.004, -0.104)	[env.py: 1079]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.3 deg	[env.py: 1082]
+05/13 23:31:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:33 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:33 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 23:31:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:35 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.506s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:31:35 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:31:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.056s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:35 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:37 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 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:37 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 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117714m	[env.py: 870]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:37 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 23:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:37 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 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106403m	[env.py: 870]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.14570389 -1.01759741 -0.11771418] yaw=-53.8deg	[env.py: 1019]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18485504 -0.95266187 -0.11771418] yaw=-59.7deg	[env.py: 1019]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=199.8ms, total=199.9ms	[env.py: 1075]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.018, -0.118)	[env.py: 1079]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg	[env.py: 1082]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48651878 -0.91450252 -0.10640325] yaw=-64.3deg	[env.py: 1019]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82749855 -0.65155016 -0.10640325] yaw=-101.0deg	[env.py: 1019]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:37 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 23:31:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54835236 -0.84729734 -0.10640325] yaw=-84.0deg	[env.py: 1019]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=284.5ms, total=284.5ms	[env.py: 1075]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.487, -0.915, -0.106)	[env.py: 1079]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg	[env.py: 1082]
+05/13 23:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.062s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:37 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:37 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 23:31:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.502s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:31:39 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:31:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.692[m] 96.334[deg]	[grasp_sample.py: 539]
+05/13 23:31:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:31:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:31:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.79s (batch: 2.94s, save: 4.85s)	[pipeline.py: 300]
+05/13 23:31:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:31:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:39 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 23:31:40 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.55s:
+  episode_total: mean=34.70s, total=69.39s, count=2, min=2063.2ms, max=67329.1ms
+  sensor_polling: mean=152.8ms, total=41.10s, count=269, min=130.9ms, max=563.2ms
+  save_trajectories: mean=4.85s, total=4.85s, count=1, min=4849.8ms, max=4849.8ms
+  save_batch_prep: mean=2.94s, total=2.94s, count=1, min=2941.9ms, max=2941.9ms
+  physics_step: mean=9.6ms, total=2.58s, count=269, min=7.4ms, max=18.7ms
+  task_sampling: mean=276.9ms, total=553.8ms, count=2, min=271.8ms, max=282.0ms
+  task_specific_sample: mean=274.5ms, total=549.0ms, count=2, min=269.5ms, max=279.5ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=234.1us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.6us, 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 23:31:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:40 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 23:31:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:40 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 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158006m	[env.py: 870]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59582477 -1.00452783 -0.15800622] yaw=-63.3deg	[env.py: 1019]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms	[env.py: 1075]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -1.005, -0.158)	[env.py: 1079]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg	[env.py: 1082]
+05/13 23:31:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:40 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:40 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 23:31:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.571[m] 95.985[deg]	[grasp_sample.py: 539]
+05/13 23:31:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:31:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:31:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:31:41 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 23:31:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:31:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113419m	[env.py: 870]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:31:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62940254 -0.89030266 -0.11341879] yaw=-64.9deg	[env.py: 1019]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.03876984 -1.34021583 -0.11341879] yaw=-37.1deg	[env.py: 1019]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66710666 -0.87774944 -0.11341879] yaw=-75.2deg	[env.py: 1019]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:31:41 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 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.890, -0.113)	[env.py: 1079]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 23:31:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m	[env.py: 1086]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:31:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:31:42 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:31:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:31:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:31:42 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 23:31:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:31:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:31:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.667[m] 96.498[deg]	[grasp_sample.py: 539]
+05/13 23:31:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:31:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:31:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:31:50 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:32:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:03 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:32:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:32:03 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 23:32:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:32:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:05 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.467s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.142[m] 14.603[deg]	[grasp_sample.py: 539]
+05/13 23:32:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:32:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:11 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 23:32:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:32:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:32:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.69s (batch: 3.09s, save: 4.60s)	[pipeline.py: 300]
+05/13 23:32:11 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:11 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.137[m] 13.963[deg]	[grasp_sample.py: 539]
+05/13 23:32:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:12 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.45s:
+  episode_total: mean=35.10s, total=70.20s, count=2, min=374.0ms, max=69828.9ms
+  sensor_polling: mean=154.3ms, total=42.13s, count=273, min=133.3ms, max=421.9ms
+  save_trajectories: mean=4.60s, total=4.60s, count=1, min=4604.9ms, max=4604.9ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3085.8ms, max=3085.8ms
+  physics_step: mean=10.0ms, total=2.72s, count=273, min=7.6ms, max=34.5ms
+  task_specific_sample: mean=407.0ms, total=814.0ms, count=2, min=368.8ms, max=445.2ms
+  task_sampling: mean=449.0ms, total=449.0ms, count=1, min=449.0ms, max=449.0ms
+  task_sampling_failed: mean=374.0ms, total=374.0ms, count=1, min=374.0ms, max=374.0ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.6ms, max=1.9ms
+  mj_forward_sync: mean=348.4us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:32:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:32:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114835m	[env.py: 870]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2447227  -1.169469   -0.11483526] yaw=-45.6deg	[env.py: 1019]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=103.7ms, total=103.8ms	[env.py: 1075]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.169, -0.115)	[env.py: 1079]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg	[env.py: 1082]
+05/13 23:32:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:13 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.071s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:16 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.706[m] 83.564[deg]	[grasp_sample.py: 539]
+05/13 23:32:16 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:32:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:18 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.492s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.137[m] 13.962[deg]	[grasp_sample.py: 539]
+05/13 23:32:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:18 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 23:32:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:18 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 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192794m	[env.py: 870]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=92.1ms, total=92.1ms	[env.py: 1105]
+05/13 23:32:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:32:18 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 23:32:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:32:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:19 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 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199311m	[env.py: 870]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.08468307 -1.31413117 -0.19931096] yaw=-8.0deg	[env.py: 1019]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57617197 -0.97740889 -0.19931096] yaw=-60.9deg	[env.py: 1019]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38495304 -0.84575796 -0.19931096] yaw=-79.9deg	[env.py: 1019]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.8ms, total=59.8ms	[env.py: 1075]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.085, -1.314, -0.199)	[env.py: 1079]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.0 deg	[env.py: 1082]
+05/13 23:32:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:20 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:23 INFO: [Worker 0] Feasibility-checked 231 grasps in 3.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:23 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.689[m] 83.435[deg]	[grasp_sample.py: 539]
+05/13 23:32:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:23 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:32:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:23 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:32:23 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=1.03s:
+  episode_total: mean=10.07s, total=50.35s, count=5, min=130.1ms, max=46203.8ms
+  sensor_polling: mean=155.5ms, total=23.32s, count=150, min=138.2ms, max=405.5ms
+  physics_step: mean=9.0ms, total=1.35s, count=150, min=6.3ms, max=12.7ms
+  task_specific_sample: mean=258.4ms, total=1.29s, count=5, min=127.3ms, max=437.8ms
+  task_sampling: mean=344.7ms, total=1.03s, count=3, min=294.9ms, max=440.3ms
+  task_sampling_failed: mean=135.5ms, total=270.9ms, count=2, min=130.1ms, max=140.8ms
+  scene_randomize: mean=1.1ms, total=5.6ms, count=5, min=0.9ms, max=1.5ms
+  mj_forward_sync: mean=284.9us, total=1.4ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:32:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:25 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 23:32:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:25 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 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144671m	[env.py: 870]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:25 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.84638536 -0.93180642 -0.14467071] yaw=-90.0deg	[env.py: 1019]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=177.6ms, total=177.7ms	[env.py: 1075]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.846, -0.932, -0.145)	[env.py: 1079]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.0 deg	[env.py: 1082]
+05/13 23:32:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:26 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:26 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:26 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.592[m] 110.101[deg]	[grasp_sample.py: 539]
+05/13 23:32:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:27 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 23:32:29 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:32:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:37 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:32:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:32:37 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 23:32:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:37 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 23:32:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:38 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:38 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.484[m] 82.982[deg]	[grasp_sample.py: 539]
+05/13 23:32:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:41 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:32:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:32:41 INFO: [Worker 0] Preparing episode data: 270 timesteps	[save_utils.py: 278]
+05/13 23:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:43 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 23:32:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:32:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:32:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.13s (batch: 2.77s, save: 4.37s)	[pipeline.py: 300]
+05/13 23:32:44 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:44 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.484[m] 82.983[deg]	[grasp_sample.py: 539]
+05/13 23:32:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:44 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.45s:
+  episode_total: mean=15.03s, total=75.17s, count=5, min=1967.3ms, max=64252.8ms
+  sensor_polling: mean=157.2ms, total=39.45s, count=251, min=136.6ms, max=613.2ms
+  save_trajectories: mean=4.37s, total=4.37s, count=1, min=4365.6ms, max=4365.6ms
+  save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2765.0ms, max=2765.0ms
+  physics_step: mean=9.9ms, total=2.48s, count=251, min=7.7ms, max=21.7ms
+  task_sampling: mean=289.1ms, total=1.45s, count=5, min=256.8ms, max=373.4ms
+  task_specific_sample: mean=287.0ms, total=1.43s, count=5, min=255.0ms, max=371.5ms
+  scene_randomize: mean=950.7us, total=4.8ms, count=5, min=0.8ms, max=1.3ms
+  mj_forward_sync: mean=238.9us, total=1.2ms, count=5, min=0.2ms, max=0.2ms
+  policy_setup: mean=11.6us, 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 23:32:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:32:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193349m	[env.py: 870]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4340594  -1.05938616 -0.193349  ] yaw=-28.0deg	[env.py: 1019]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86479448 -0.85840586 -0.193349  ] yaw=-87.8deg	[env.py: 1019]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02260643 -1.28981678 -0.193349  ] yaw=-31.4deg	[env.py: 1019]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.0ms, total=183.0ms	[env.py: 1075]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.434, -1.059, -0.193)	[env.py: 1079]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.0 deg	[env.py: 1082]
+05/13 23:32:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:46 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:47 INFO: [Worker 0] Feasibility-checked 241 grasps in 0.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 84.042[deg]	[grasp_sample.py: 539]
+05/13 23:32:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:32:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:32:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.50s (batch: 2.81s, save: 4.68s)	[pipeline.py: 300]
+05/13 23:32:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:32:49 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.28s:
+  episode_total: mean=68.11s, total=68.11s, count=1, min=68111.5ms, max=68111.5ms
+  sensor_polling: mean=154.3ms, total=41.51s, count=269, min=134.7ms, max=517.0ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4683.5ms, max=4683.5ms
+  save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2814.4ms, max=2814.4ms
+  physics_step: mean=9.6ms, total=2.58s, count=269, min=7.4ms, max=16.2ms
+  task_sampling: mean=284.5ms, total=284.5ms, count=1, min=284.5ms, max=284.5ms
+  task_specific_sample: mean=282.2ms, total=282.2ms, count=1, min=282.2ms, max=282.2ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=235.4us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.6us, 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 23:32:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:32:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:51 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:51 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.484[m] 82.983[deg]	[grasp_sample.py: 539]
+05/13 23:32:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:32:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:51 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 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195216m	[env.py: 870]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75702388 -0.82964618 -0.19521646] yaw=-79.8deg	[env.py: 1019]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:32:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.1ms, total=191.1ms	[env.py: 1075]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.757, -0.830, -0.195)	[env.py: 1079]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg	[env.py: 1082]
+05/13 23:32:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:32:51 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:32:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:32:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:32:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:32:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:52 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:32:52 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.643[m] 102.337[deg]	[grasp_sample.py: 539]
+05/13 23:32:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:32:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:32:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:32:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:32:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:32:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:32:56 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:32:56 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=0.36s:
+  episode_total: mean=31.18s, total=31.18s, count=1, min=31182.1ms, max=31182.1ms
+  sensor_polling: mean=156.7ms, total=10.35s, count=66, min=142.0ms, max=264.0ms
+  physics_step: mean=8.5ms, total=562.6ms, count=66, min=6.3ms, max=13.5ms
+  task_sampling: mean=357.1ms, total=357.1ms, count=1, min=357.1ms, max=357.1ms
+  task_specific_sample: mean=354.8ms, total=354.8ms, count=1, min=354.8ms, max=354.8ms
+  scene_randomize: mean=1.0ms, total=1.0ms, count=1, min=1.0ms, max=1.0ms
+  mj_forward_sync: mean=333.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.4us, 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 23:32:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:32:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:32:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:32:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:32:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:32:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:32:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:32:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:32:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:32:58 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 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127230m	[env.py: 870]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:32:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:32:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=252.6ms, total=252.6ms	[env.py: 1105]
+05/13 23:32:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:32:59 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:32:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:01 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 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157795m	[env.py: 870]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.74907599 -0.65993202 -0.15779517] yaw=-104.1deg	[env.py: 1019]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=129.4ms, total=129.4ms	[env.py: 1075]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.749, -0.660, -0.158)	[env.py: 1079]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.1 deg	[env.py: 1082]
+05/13 23:33:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:01 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:01 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 23:33:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:03 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.520s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:33:03 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:33:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:33:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:33:04 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 23:33:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:05 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 23:33:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104114m	[env.py: 870]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24938557 -1.0372038  -0.10411426] yaw=-42.3deg	[env.py: 1019]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40469248 -1.02605383 -0.10411426] yaw=-50.2deg	[env.py: 1019]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34668662 -0.92266879 -0.10411426] yaw=-51.0deg	[env.py: 1019]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.6ms, total=121.7ms	[env.py: 1075]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.037, -0.104)	[env.py: 1079]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/13 23:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:05 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:33:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:06 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.786s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:06 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.494[m] 72.340[deg]	[grasp_sample.py: 539]
+05/13 23:33:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:33:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:33:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.620s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:08 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.765[m] 91.103[deg]	[grasp_sample.py: 539]
+05/13 23:33:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:33:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:33:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:33:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:10 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:33:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:33:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:33:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:33:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:14 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:14 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.494[m] 72.342[deg]	[grasp_sample.py: 539]
+05/13 23:33:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:33:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:33:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:33:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:33:20 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 23:33:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:33:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:33:23 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 23:33:23 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.745s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:23 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.494[m] 72.342[deg]	[grasp_sample.py: 539]
+05/13 23:33:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:33:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:33:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:33:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:33:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:33:28 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:33:28 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=False episode_total=0.36s:
+  episode_total: mean=37.32s, total=37.32s, count=1, min=37319.3ms, max=37319.3ms
+  sensor_polling: mean=146.2ms, total=10.82s, count=74, min=131.6ms, max=429.5ms
+  physics_step: mean=7.9ms, total=585.8ms, count=74, min=6.2ms, max=9.7ms
+  task_sampling: mean=355.1ms, total=355.1ms, count=1, min=355.1ms, max=355.1ms
+  task_specific_sample: mean=352.5ms, total=352.5ms, count=1, min=352.5ms, max=352.5ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=249.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:33:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163387m	[env.py: 870]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.82683874 -0.69012859 -0.16338656] yaw=-60.0deg	[env.py: 1019]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51861448 -0.96607756 -0.16338656] yaw=-47.0deg	[env.py: 1019]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.64975988 -0.97927389 -0.16338656] yaw=-66.9deg	[env.py: 1019]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.6ms, total=188.6ms	[env.py: 1075]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.827, -0.690, -0.163)	[env.py: 1079]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/13 23:33:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:31 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:33:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:33:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:33:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.09s (batch: 3.26s, save: 4.84s)	[pipeline.py: 300]
+05/13 23:33:32 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.43s:
+  episode_total: mean=25.08s, total=75.25s, count=3, min=98.6ms, max=72225.6ms
+  sensor_polling: mean=154.3ms, total=42.89s, count=278, min=137.2ms, max=314.7ms
+  save_trajectories: mean=4.84s, total=4.84s, count=1, min=4836.1ms, max=4836.1ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3256.3ms, max=3256.3ms
+  physics_step: mean=10.0ms, total=2.77s, count=278, min=7.4ms, max=17.0ms
+  task_specific_sample: mean=172.5ms, total=517.4ms, count=3, min=95.4ms, max=240.2ms
+  task_sampling: mean=213.3ms, total=426.6ms, count=2, min=183.6ms, max=243.0ms
+  task_sampling_failed: mean=98.6ms, total=98.6ms, count=1, min=98.6ms, max=98.6ms
+  scene_randomize: mean=1.1ms, total=3.4ms, count=3, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=246.9us, total=0.7ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=18.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:33:32 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:33:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.461s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:33:32 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:33:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:33 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 23:33:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:33 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 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157894m	[env.py: 870]
+05/13 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.05998601 -1.18466134 -0.15789432] yaw=-50.0deg	[env.py: 1019]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81014446 -0.84024115 -0.15789432] yaw=-68.9deg	[env.py: 1019]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24831485 -1.04684375 -0.15789432] yaw=-34.9deg	[env.py: 1019]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.8ms	[env.py: 1075]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.060, -1.185, -0.158)	[env.py: 1079]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.0 deg	[env.py: 1082]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m	[env.py: 1086]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:34 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:34 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 23:33:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:34 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 23:33:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:34 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 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166308m	[env.py: 870]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.86273392 -0.71683733 -0.1663084 ] yaw=-79.3deg	[env.py: 1019]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.8ms, total=231.8ms	[env.py: 1075]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.863, -0.717, -0.166)	[env.py: 1079]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.3 deg	[env.py: 1082]
+05/13 23:33:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:34 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:34 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 23:33:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:33:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:33:35 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:33:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:33:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159196m	[env.py: 870]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -17.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 9.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85127113 -0.7553972  -0.15919577] yaw=-106.2deg	[env.py: 1019]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13577603 -1.30607889 -0.15919577] yaw=-22.0deg	[env.py: 1019]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.9ms	[env.py: 1075]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.851, -0.755, -0.159)	[env.py: 1079]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.2 deg	[env.py: 1082]
+05/13 23:33:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m	[env.py: 1086]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:37 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:38 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 23:33:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.064s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.613s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:41 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.731[m] 91.799[deg]	[grasp_sample.py: 539]
+05/13 23:33:41 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:33:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:43 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 23:33:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:43 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 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106252m	[env.py: 870]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81122696 -0.70045282 -0.10625219] yaw=-84.5deg	[env.py: 1019]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75305317 -0.83930499 -0.10625219] yaw=-60.9deg	[env.py: 1019]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.74959682 -0.86137551 -0.10625219] yaw=-104.5deg	[env.py: 1019]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.6ms, total=149.6ms	[env.py: 1075]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.811, -0.700, -0.106)	[env.py: 1079]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.5 deg	[env.py: 1082]
+05/13 23:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:43 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:33:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:44 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:33:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:33:44 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 23:33:45 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.487s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:33:45 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:33:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124321m	[env.py: 870]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20299706 -1.13017851 -0.12432061] yaw=-21.8deg	[env.py: 1019]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.4ms, total=234.4ms	[env.py: 1075]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.203, -1.130, -0.124)	[env.py: 1079]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.8 deg	[env.py: 1082]
+05/13 23:33:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:47 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:47 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 23:33:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:33:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:33:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.68s (batch: 2.80s, save: 4.88s)	[pipeline.py: 300]
+05/13 23:33:52 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.37s:
+  episode_total: mean=66.10s, total=66.10s, count=1, min=66095.3ms, max=66095.3ms
+  sensor_polling: mean=154.2ms, total=40.86s, count=265, min=133.1ms, max=703.4ms
+  save_trajectories: mean=4.88s, total=4.88s, count=1, min=4876.8ms, max=4876.8ms
+  save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2798.6ms, max=2798.6ms
+  physics_step: mean=9.6ms, total=2.55s, count=265, min=7.5ms, max=18.9ms
+  task_sampling: mean=365.5ms, total=365.5ms, count=1, min=365.5ms, max=365.5ms
+  task_specific_sample: mean=362.9ms, total=362.9ms, count=1, min=362.9ms, max=362.9ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=269.8us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:54 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 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180179m	[env.py: 870]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60017529 -0.99928187 -0.18017883] yaw=-90.0deg	[env.py: 1019]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.4ms, total=229.4ms	[env.py: 1075]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.600, -0.999, -0.180)	[env.py: 1079]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.0 deg	[env.py: 1082]
+05/13 23:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:54 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:54 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 23:33:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:33:56 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:33:56 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:56 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.606[m] 88.762[deg]	[grasp_sample.py: 539]
+05/13 23:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:33:57 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 23:33:57 INFO: [Worker 0] Feasibility-checked 234 grasps in 10.053s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:33:57 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.686[m] 80.549[deg]	[grasp_sample.py: 539]
+05/13 23:33:58 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:33:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:33:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:33:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:33:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:33:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:33:59 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 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177366m	[env.py: 870]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:33:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81572993 -0.81838247 -0.17736567] yaw=-106.2deg	[env.py: 1019]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21046462 -1.08327538 -0.17736567] yaw=-28.1deg	[env.py: 1019]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:33:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=326.7ms, total=326.8ms	[env.py: 1075]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.816, -0.818, -0.177)	[env.py: 1079]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.2 deg	[env.py: 1082]
+05/13 23:33:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m	[env.py: 1086]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:33:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:33:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:33:59 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:33:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177038m	[env.py: 870]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.78785043 -0.70240916 -0.17703818] yaw=-64.6deg	[env.py: 1019]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5332936  -1.01390537 -0.17703818] yaw=-43.6deg	[env.py: 1019]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.59781259 -0.72915237 -0.17703818] yaw=-65.4deg	[env.py: 1019]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.6ms, total=103.6ms	[env.py: 1075]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.788, -0.702, -0.177)	[env.py: 1079]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/13 23:34:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:00 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:00 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:00 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.678[m] 94.719[deg]	[grasp_sample.py: 539]
+05/13 23:34:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:04 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:34:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:05 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 23:34:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142904m	[env.py: 870]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69435468 -0.79157308 -0.14290351] yaw=-67.5deg	[env.py: 1019]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2326276  -1.16285024 -0.14290351] yaw=-46.2deg	[env.py: 1019]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.73385532 -0.94855003 -0.14290351] yaw=-88.2deg	[env.py: 1019]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=70.8ms, total=70.8ms	[env.py: 1075]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.694, -0.792, -0.143)	[env.py: 1079]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg	[env.py: 1082]
+05/13 23:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:05 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:05 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 23:34:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.995s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:07 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.717[m] 76.298[deg]	[grasp_sample.py: 539]
+05/13 23:34:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 29.034s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:07 INFO: [Worker 0] Feasible grasp found 400 (originally 93): w/ 0.742[m] 98.207[deg]	[grasp_sample.py: 539]
+05/13 23:34:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:07 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:09 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 23:34:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:09 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 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112235m	[env.py: 870]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 81.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31309655 -0.86600074 -0.11223524] yaw=-35.2deg	[env.py: 1019]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1791939  -1.42225632 -0.11223524] yaw=-44.0deg	[env.py: 1019]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms	[env.py: 1075]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.866, -0.112)	[env.py: 1079]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.2 deg	[env.py: 1082]
+05/13 23:34:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:09 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:10 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:34:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:34:10 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 23:34:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:11 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.534s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:34:11 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:34:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:34:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:34:12 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 23:34:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:12 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 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146345m	[env.py: 870]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46804067 -0.92535561 -0.1463455 ] yaw=-39.6deg	[env.py: 1019]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81120023 -0.91451883 -0.1463455 ] yaw=-107.3deg	[env.py: 1019]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.0ms, total=122.1ms	[env.py: 1075]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.468, -0.925, -0.146)	[env.py: 1079]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.6 deg	[env.py: 1082]
+05/13 23:34:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m	[env.py: 1086]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:13 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:13 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.765s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:13 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.529[m] 67.234[deg]	[grasp_sample.py: 539]
+05/13 23:34:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:15 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.037s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:15 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.711[m] 93.931[deg]	[grasp_sample.py: 539]
+05/13 23:34:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:34:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:34:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:34:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:34:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:34:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.78s (batch: 3.59s, save: 5.19s)	[pipeline.py: 300]
+05/13 23:34:20 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.724s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:20 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.529[m] 67.236[deg]	[grasp_sample.py: 539]
+05/13 23:34:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:20 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.55s:
+  episode_total: mean=25.79s, total=77.36s, count=3, min=260.7ms, max=75182.7ms
+  sensor_polling: mean=150.5ms, total=43.79s, count=291, min=133.1ms, max=453.8ms
+  save_trajectories: mean=5.19s, total=5.19s, count=1, min=5188.3ms, max=5188.3ms
+  save_batch_prep: mean=3.59s, total=3.59s, count=1, min=3587.4ms, max=3587.4ms
+  physics_step: mean=9.7ms, total=2.83s, count=291, min=7.9ms, max=13.9ms
+  task_specific_sample: mean=268.8ms, total=806.5ms, count=3, min=256.6ms, max=289.2ms
+  task_sampling: mean=277.2ms, total=554.3ms, count=2, min=262.6ms, max=291.8ms
+  task_sampling_failed: mean=260.7ms, total=260.7ms, count=1, min=260.7ms, max=260.7ms
+  scene_randomize: mean=942.1us, total=2.8ms, count=3, min=0.7ms, max=1.1ms
+  mj_forward_sync: mean=272.1us, total=0.8ms, count=3, 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=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:34:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:22 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 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185152m	[env.py: 870]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.85139169 -0.72322428 -0.18515233] yaw=-94.2deg	[env.py: 1019]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=196.1ms, total=196.2ms	[env.py: 1075]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.851, -0.723, -0.185)	[env.py: 1079]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.2 deg	[env.py: 1082]
+05/13 23:34:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:22 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:34:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:34:25 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 23:34:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:26 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:26 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.529[m] 67.236[deg]	[grasp_sample.py: 539]
+05/13 23:34:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:34:31 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:34:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:31 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:34:31 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=False episode_total=0.89s:
+  episode_total: mean=17.98s, total=35.97s, count=2, min=3219.9ms, max=32748.3ms
+  sensor_polling: mean=161.6ms, total=12.12s, count=75, min=136.2ms, max=765.8ms
+  task_sampling: mean=443.0ms, total=886.0ms, count=2, min=413.9ms, max=472.0ms
+  task_specific_sample: mean=440.7ms, total=881.4ms, count=2, min=411.6ms, max=469.8ms
+  physics_step: mean=8.3ms, total=626.0ms, count=75, min=6.3ms, max=13.6ms
+  scene_randomize: mean=1.1ms, total=2.1ms, count=2, min=0.7ms, max=1.4ms
+  mj_forward_sync: mean=241.9us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=12.0us, 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 23:34:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:34:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:34:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:34:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:33 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 23:34:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:33 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 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192067m	[env.py: 870]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20930254 -1.24212771 -0.19206692] yaw=-34.8deg	[env.py: 1019]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-3.50289269e-04 -1.20486304e+00 -1.92066923e-01] yaw=-15.0deg	[env.py: 1019]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5866282  -0.74036531 -0.19206692] yaw=-81.1deg	[env.py: 1019]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.3ms, total=226.3ms	[env.py: 1075]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.209, -1.242, -0.192)	[env.py: 1079]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 23:34:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:33 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.459s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:35 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 83.703[deg]	[grasp_sample.py: 539]
+05/13 23:34:36 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177138m	[env.py: 870]
+05/13 23:34:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28580732 -1.11923245 -0.17713836] yaw=-50.7deg	[env.py: 1019]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.1ms, total=248.1ms	[env.py: 1075]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.119, -0.177)	[env.py: 1079]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.7 deg	[env.py: 1082]
+05/13 23:34:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 23:34:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:38 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:39 INFO: [Worker 0] Feasibility-checked 246 grasps in 16.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:39 INFO: [Worker 0] Feasible grasp found 588 (originally 281): w/ 0.706[m] 105.341[deg]	[grasp_sample.py: 539]
+05/13 23:34:39 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.158s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.623[m] 86.413[deg]	[grasp_sample.py: 539]
+05/13 23:34:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:41 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 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184821m	[env.py: 870]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.79690529 -0.67488072 -0.18482065] yaw=-69.3deg	[env.py: 1019]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.79111475 -0.88761652 -0.18482065] yaw=-57.0deg	[env.py: 1019]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:41 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 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.797, -0.675, -0.185)	[env.py: 1079]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.3 deg	[env.py: 1082]
+05/13 23:34:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:34:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:41 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:41 INFO: [Worker 0] Feasibility-checked 238 grasps in 8.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:41 INFO: [Worker 0] Feasible grasp found 522 (originally 215): w/ 0.172[m] 13.608[deg]	[grasp_sample.py: 539]
+05/13 23:34:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:34:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.478s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:34:43 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:43 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 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128473m	[env.py: 870]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23745542 -1.0026439  -0.128473  ] yaw=-37.7deg	[env.py: 1019]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=123.0ms, total=123.0ms	[env.py: 1075]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.003, -0.128)	[env.py: 1079]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg	[env.py: 1082]
+05/13 23:34:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:44 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:44 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 23:34:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:34:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:45 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 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109527m	[env.py: 870]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2135505  -1.04391805 -0.10952654] yaw=-18.8deg	[env.py: 1019]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.63618829 -0.81869193 -0.10952654] yaw=-66.2deg	[env.py: 1019]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=91.0ms, total=91.0ms	[env.py: 1075]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.044, -0.110)	[env.py: 1079]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.8 deg	[env.py: 1082]
+05/13 23:34:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:45 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:34:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:46 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:34:46 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.499s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:34:46 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:34:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:48 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 23:34:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:48 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 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109399m	[env.py: 870]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23655142 -1.27680453 -0.10939864] yaw=-57.5deg	[env.py: 1019]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.8ms, total=122.8ms	[env.py: 1075]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.277, -0.109)	[env.py: 1079]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg	[env.py: 1082]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:48 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:48 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 23:34:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:34:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:34:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:34:48 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 23:34:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:34:48 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 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156912m	[env.py: 870]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:34:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77942874 -0.86897008 -0.1569122 ] yaw=-77.0deg	[env.py: 1019]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:34:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.5ms, total=119.5ms	[env.py: 1075]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.779, -0.869, -0.157)	[env.py: 1079]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.0 deg	[env.py: 1082]
+05/13 23:34:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:34:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:34:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:34:48 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:34:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:34:48 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 23:34:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:34:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:34:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:49 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.650[m] 92.161[deg]	[grasp_sample.py: 539]
+05/13 23:34:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.334s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:34:50 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.640[m] 83.224[deg]	[grasp_sample.py: 539]
+05/13 23:34:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:34:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:34:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:34:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:02 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:35:03 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:35:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:10 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:35:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:35:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:35:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:35:14 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/13 23:35:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:35:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:35:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.83s (batch: 3.14s, save: 4.69s)	[pipeline.py: 300]
+05/13 23:35:23 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.44s:
+  episode_total: mean=12.55s, total=100.37s, count=8, min=1775.1ms, max=70212.8ms
+  sensor_polling: mean=153.6ms, total=43.16s, count=281, min=133.5ms, max=670.2ms
+  save_trajectories: mean=4.69s, total=4.69s, count=1, min=4693.4ms, max=4693.4ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3140.5ms, max=3140.5ms
+  physics_step: mean=9.6ms, total=2.69s, count=281, min=7.4ms, max=15.3ms
+  task_sampling: mean=304.6ms, total=2.44s, count=8, min=206.2ms, max=397.6ms
+  task_specific_sample: mean=302.3ms, total=2.42s, count=8, min=204.5ms, max=395.7ms
+  scene_randomize: mean=895.6us, total=7.2ms, count=8, min=0.6ms, max=1.2ms
+  mj_forward_sync: mean=254.0us, total=2.0ms, count=8, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.0us, total=0.1ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:35:23 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:35:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:24 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 23:35:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:24 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 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158431m	[env.py: 870]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47701445 -1.0665592  -0.1584309 ] yaw=-71.8deg	[env.py: 1019]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=135.6ms, total=135.6ms	[env.py: 1075]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.477, -1.067, -0.158)	[env.py: 1079]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.8 deg	[env.py: 1082]
+05/13 23:35:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m	[env.py: 1086]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:24 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:24 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 23:35:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:35:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:35:26 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.611[m] 87.236[deg]	[grasp_sample.py: 539]
+05/13 23:35:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:35:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:35:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:35:34 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:35:34 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:35:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:35:34 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 23:35:34 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:35:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:35:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:35:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.49s (batch: 3.05s, save: 5.45s)	[pipeline.py: 300]
+05/13 23:35:43 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.81s:
+  episode_total: mean=33.97s, total=67.94s, count=2, min=2507.7ms, max=65429.5ms
+  sensor_polling: mean=155.2ms, total=39.90s, count=257, min=139.3ms, max=545.2ms
+  save_trajectories: mean=5.45s, total=5.45s, count=1, min=5445.2ms, max=5445.2ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3048.4ms, max=3048.4ms
+  physics_step: mean=9.7ms, total=2.49s, count=257, min=7.9ms, max=15.2ms
+  task_sampling: mean=403.4ms, total=806.8ms, count=2, min=385.4ms, max=421.4ms
+  task_specific_sample: mean=400.5ms, total=801.0ms, count=2, min=382.9ms, max=418.1ms
+  scene_randomize: mean=1.0ms, total=2.1ms, count=2, min=1.0ms, max=1.1ms
+  mj_forward_sync: mean=291.4us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:35:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:35:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:35:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:45 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 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126816m	[env.py: 870]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.70037521 -0.77742113 -0.12681561] yaw=-53.3deg	[env.py: 1019]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.62281577 -0.85454678 -0.12681561] yaw=-82.8deg	[env.py: 1019]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32150086 -1.1054682  -0.12681561] yaw=-18.8deg	[env.py: 1019]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.1ms, total=163.1ms	[env.py: 1075]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.700, -0.777, -0.127)	[env.py: 1079]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg	[env.py: 1082]
+05/13 23:35:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:45 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:35:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:35:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:35:46 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:35:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:35:46 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:35:47 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:35:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:35:47 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 23:35:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.212s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:35:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.771[m] 87.456[deg]	[grasp_sample.py: 539]
+05/13 23:35:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:48 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:35:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:49 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 23:35:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136712m	[env.py: 870]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.8ms, total=195.8ms	[env.py: 1105]
+05/13 23:35:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:35:49 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 23:35:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:51 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 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167614m	[env.py: 870]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.68053563 -0.918132   -0.16761407] yaw=-73.0deg	[env.py: 1019]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31125422 -1.09158045 -0.16761407] yaw=-30.8deg	[env.py: 1019]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=215.0ms, total=215.0ms	[env.py: 1075]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.681, -0.918, -0.168)	[env.py: 1079]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg	[env.py: 1082]
+05/13 23:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:52 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:35:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:35:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:35:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:35:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.625[m] 90.301[deg]	[grasp_sample.py: 539]
+05/13 23:35:54 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:35:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:35:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:35:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.63s (batch: 2.98s, save: 4.65s)	[pipeline.py: 300]
+05/13 23:35:55 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=1.11s:
+  episode_total: mean=34.03s, total=136.14s, count=4, min=1902.2ms, max=67071.7ms
+  sensor_polling: mean=151.4ms, total=60.10s, count=397, min=136.1ms, max=450.7ms
+  save_trajectories: mean=4.65s, total=4.65s, count=1, min=4647.6ms, max=4647.6ms
+  physics_step: mean=9.6ms, total=3.82s, count=397, min=7.9ms, max=17.7ms
+  save_batch_prep: mean=2.98s, total=2.98s, count=1, min=2980.2ms, max=2980.2ms
+  task_sampling: mean=278.7ms, total=1.11s, count=4, min=269.0ms, max=293.4ms
+  task_specific_sample: mean=276.0ms, total=1.10s, count=4, min=266.1ms, max=290.9ms
+  scene_randomize: mean=1.2ms, total=4.8ms, count=4, min=0.8ms, max=1.8ms
+  mj_forward_sync: mean=251.7us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.0us, 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 23:35:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:35:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:35:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.71s (batch: 3.10s, save: 4.62s)	[pipeline.py: 300]
+05/13 23:35:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:55 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 23:35:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182607m	[env.py: 870]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2468328  -0.99867986 -0.18260707] yaw=-48.8deg	[env.py: 1019]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:55 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=1.05s:
+  episode_total: mean=22.09s, total=88.34s, count=4, min=1788.9ms, max=67322.2ms
+  sensor_polling: mean=154.2ms, total=40.41s, count=262, min=143.0ms, max=274.1ms
+  save_trajectories: mean=4.62s, total=4.62s, count=1, min=4616.9ms, max=4616.9ms
+  save_batch_prep: mean=3.10s, total=3.10s, count=1, min=3096.6ms, max=3096.6ms
+  physics_step: mean=9.9ms, total=2.59s, count=262, min=7.7ms, max=13.1ms
+  task_sampling: mean=263.0ms, total=1.05s, count=4, min=206.3ms, max=342.4ms
+  task_specific_sample: mean=260.4ms, total=1.04s, count=4, min=204.3ms, max=339.6ms
+  scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=0.9ms, max=1.7ms
+  mj_forward_sync: mean=267.8us, total=1.1ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.0us, 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 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=151.6ms, total=151.6ms	[env.py: 1075]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.999, -0.183)	[env.py: 1079]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.8 deg	[env.py: 1082]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m	[env.py: 1086]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:56 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:56 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 23:35:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:56 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 23:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177194m	[env.py: 870]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 49.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -111.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=190.6ms, total=190.6ms	[env.py: 1105]
+05/13 23:35:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:35:56 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:57 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 23:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170428m	[env.py: 870]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 169.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11350073 -1.43110909 -0.17042769] yaw=-31.1deg	[env.py: 1019]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=94.6ms, total=94.6ms	[env.py: 1075]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.114, -1.431, -0.170)	[env.py: 1079]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.1 deg	[env.py: 1082]
+05/13 23:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m	[env.py: 1086]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:57 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:57 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 23:35:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:35:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:35:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:35:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:35:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:35:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:35:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190159m	[env.py: 870]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:35:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32648611 -0.89989492 -0.19015941] yaw=-47.9deg	[env.py: 1019]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:35:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=103.4ms, total=103.4ms	[env.py: 1075]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -0.900, -0.190)	[env.py: 1079]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.9 deg	[env.py: 1082]
+05/13 23:35:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:35:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:35:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:35:58 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:35:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:35:58 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 23:35:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:35:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:00 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.723[m] 88.328[deg]	[grasp_sample.py: 539]
+05/13 23:36:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:36:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:36:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:36:01 INFO: [Worker 0] Feasibility-checked 240 grasps in 3.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:01 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.654[m] 83.127[deg]	[grasp_sample.py: 539]
+05/13 23:36:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.604s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:01 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.716[m] 97.967[deg]	[grasp_sample.py: 539]
+05/13 23:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:36:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:36:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:02 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:36:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:04 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 23:36:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184290m	[env.py: 870]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14428225 -1.31216972 -0.18428962] yaw=-17.3deg	[env.py: 1019]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71630724 -0.68846515 -0.18428962] yaw=-85.2deg	[env.py: 1019]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41485299 -0.88782357 -0.18428962] yaw=-85.6deg	[env.py: 1019]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:36:04 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 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.144, -1.312, -0.184)	[env.py: 1079]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.3 deg	[env.py: 1082]
+05/13 23:36:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m	[env.py: 1086]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:36:04 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:36:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:36:04 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 23:36:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:36:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:07 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.550s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:07 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.647[m] 87.720[deg]	[grasp_sample.py: 539]
+05/13 23:36:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:36:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:36:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:07 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 23:36:11 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:36:22 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:36:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:36:22 INFO: [Worker 0] Preparing episode data: 255 timesteps	[save_utils.py: 278]
+05/13 23:36:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:36:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:36:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:36:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.72s (batch: 3.17s, save: 4.55s)	[pipeline.py: 300]
+05/13 23:36:31 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.30s:
+  episode_total: mean=66.66s, total=66.66s, count=1, min=66661.5ms, max=66661.5ms
+  sensor_polling: mean=150.3ms, total=38.17s, count=254, min=131.0ms, max=387.0ms
+  save_trajectories: mean=4.55s, total=4.55s, count=1, min=4547.3ms, max=4547.3ms
+  save_batch_prep: mean=3.17s, total=3.17s, count=1, min=3169.2ms, max=3169.2ms
+  physics_step: mean=9.6ms, total=2.44s, count=254, min=7.2ms, max=14.9ms
+  task_sampling: mean=300.9ms, total=300.9ms, count=1, min=300.9ms, max=300.9ms
+  task_specific_sample: mean=298.1ms, total=298.1ms, count=1, min=298.1ms, max=298.1ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=352.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 23:36:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112635m	[env.py: 870]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=127.2ms, total=127.2ms	[env.py: 1105]
+05/13 23:36:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:36:33 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:36:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:34 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 23:36:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:34 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 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153016m	[env.py: 870]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40366645 -0.8423368  -0.15301579] yaw=-46.6deg	[env.py: 1019]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41309385 -1.08358879 -0.15301579] yaw=-28.5deg	[env.py: 1019]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48462432 -0.97067314 -0.15301579] yaw=-76.5deg	[env.py: 1019]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:36:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=94.7ms, total=94.7ms	[env.py: 1075]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.404, -0.842, -0.153)	[env.py: 1079]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/13 23:36:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:36:35 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:36:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:36:35 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 23:36:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:36:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.532s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:36 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.782[m] 87.531[deg]	[grasp_sample.py: 539]
+05/13 23:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:36:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:36:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:36:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:36:39 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 23:36:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:36:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146852m	[env.py: 870]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:36:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49294396 -1.04811994 -0.14685207] yaw=-63.3deg	[env.py: 1019]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84200995 -0.92237673 -0.14685207] yaw=-78.5deg	[env.py: 1019]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=305.7ms, total=305.7ms	[env.py: 1075]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -1.048, -0.147)	[env.py: 1079]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg	[env.py: 1082]
+05/13 23:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:36:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:36:39 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:36:39 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 23:36:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:36:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:36:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.581[m] 83.854[deg]	[grasp_sample.py: 539]
+05/13 23:36:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:36:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:36:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:36:46 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:36:47 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:36:55 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:36:58 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:36:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:36:58 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 23:36:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:36:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:01 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:37:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:37:01 INFO: [Worker 0] Preparing episode data: 279 timesteps	[save_utils.py: 278]
+05/13 23:37:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:02 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 23:37:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:03 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.448s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:03 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.101[m] 9.801[deg]	[grasp_sample.py: 539]
+05/13 23:37:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:08 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 23:37:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:37:09 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.471s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.101[m] 9.798[deg]	[grasp_sample.py: 539]
+05/13 23:37:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:37:09 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 23:37:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:37:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:37:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.12s (batch: 3.09s, save: 5.03s)	[pipeline.py: 300]
+05/13 23:37:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:37:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:37:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 11.19s (batch: 5.34s, save: 5.85s)	[pipeline.py: 300]
+05/13 23:37:09 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.27s:
+  episode_total: mean=35.85s, total=71.70s, count=2, min=197.9ms, max=71503.0ms
+  sensor_polling: mean=151.8ms, total=42.21s, count=278, min=137.6ms, max=381.1ms
+  save_trajectories: mean=5.03s, total=5.03s, count=1, min=5032.0ms, max=5032.0ms
+  save_batch_prep: mean=3.09s, total=3.09s, count=1, min=3090.2ms, max=3090.2ms
+  physics_step: mean=9.7ms, total=2.69s, count=278, min=7.8ms, max=17.9ms
+  task_specific_sample: mean=228.9ms, total=457.7ms, count=2, min=194.7ms, max=263.0ms
+  task_sampling: mean=265.4ms, total=265.4ms, count=1, min=265.4ms, max=265.4ms
+  task_sampling_failed: mean=197.9ms, total=197.9ms, count=1, min=197.9ms, max=197.9ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=286.0us, total=0.6ms, count=2, 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=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:37:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:10 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.03s:
+  episode_total: mean=20.19s, total=80.76s, count=4, min=209.6ms, max=74819.5ms
+  sensor_polling: mean=150.7ms, total=40.83s, count=271, min=138.0ms, max=466.6ms
+  save_trajectories: mean=5.85s, total=5.85s, count=1, min=5848.3ms, max=5848.3ms
+  save_batch_prep: mean=5.34s, total=5.34s, count=1, min=5343.9ms, max=5343.9ms
+  physics_step: mean=9.6ms, total=2.59s, count=271, min=8.0ms, max=20.7ms
+  task_specific_sample: mean=306.0ms, total=1.22s, count=4, min=199.0ms, max=369.3ms
+  task_sampling: mean=343.7ms, total=1.03s, count=3, min=315.9ms, max=371.0ms
+  task_sampling_failed: mean=209.5ms, total=209.5ms, count=1, min=209.5ms, max=209.5ms
+  scene_randomize: mean=970.7us, total=3.9ms, count=4, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=247.2us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=16.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:11 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 23:37:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185861m	[env.py: 870]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59939155 -0.89639689 -0.18586135] yaw=-82.5deg	[env.py: 1019]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41844971 -0.98984211 -0.18586135] yaw=-66.2deg	[env.py: 1019]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.91019907 -0.8038556  -0.18586135] yaw=-69.1deg	[env.py: 1019]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.7ms, total=109.8ms	[env.py: 1075]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.896, -0.186)	[env.py: 1079]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.5 deg	[env.py: 1082]
+05/13 23:37:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:11 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:11 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 23:37:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:12 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 23:37:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148918m	[env.py: 870]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7372167  -0.88104217 -0.14891813] yaw=-58.0deg	[env.py: 1019]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.65269592 -0.76119385 -0.14891813] yaw=-99.5deg	[env.py: 1019]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=109.2ms, total=109.3ms	[env.py: 1075]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.737, -0.881, -0.149)	[env.py: 1079]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.0 deg	[env.py: 1082]
+05/13 23:37:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 23:37:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:13 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:13 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 23:37:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:14 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 23:37:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:14 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.443s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:14 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.101[m] 9.798[deg]	[grasp_sample.py: 539]
+05/13 23:37:14 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.987s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:15 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.650[m] 92.702[deg]	[grasp_sample.py: 539]
+05/13 23:37:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:15 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 23:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:37:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:37:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.35s (batch: 3.28s, save: 5.07s)	[pipeline.py: 300]
+05/13 23:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:18 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=0.51s:
+  episode_total: mean=39.28s, total=78.57s, count=2, min=4686.0ms, max=73880.3ms
+  sensor_polling: mean=166.5ms, total=44.63s, count=268, min=137.6ms, max=580.1ms
+  save_trajectories: mean=5.07s, total=5.07s, count=1, min=5065.8ms, max=5065.8ms
+  save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3285.0ms, max=3285.0ms
+  physics_step: mean=10.4ms, total=2.78s, count=268, min=7.5ms, max=15.9ms
+  task_sampling: mean=255.6ms, total=511.3ms, count=2, min=230.0ms, max=281.2ms
+  task_specific_sample: mean=252.9ms, total=505.7ms, count=2, min=227.3ms, max=278.4ms
+  scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.1ms, max=1.6ms
+  mj_forward_sync: mean=308.6us, total=0.6ms, count=2, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:19 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 23:37:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:19 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 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106967m	[env.py: 870]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88909549 -0.84760886 -0.10696659] yaw=-99.3deg	[env.py: 1019]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 171.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.40121757 -1.09839819 -0.10696659] yaw=-27.0deg	[env.py: 1019]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68540251 -0.82103237 -0.10696659] yaw=-68.8deg	[env.py: 1019]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.9ms, total=184.9ms	[env.py: 1075]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.889, -0.848, -0.107)	[env.py: 1079]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.3 deg	[env.py: 1082]
+05/13 23:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m	[env.py: 1086]
+05/13 23:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:20 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:37:20 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=False episode_total=0.69s:
+  episode_total: mean=14.55s, total=43.64s, count=3, min=134.2ms, max=41076.5ms
+  sensor_polling: mean=151.8ms, total=20.19s, count=133, min=130.7ms, max=659.0ms
+  physics_step: mean=8.7ms, total=1.15s, count=133, min=6.2ms, max=14.2ms
+  task_specific_sample: mean=273.8ms, total=821.3ms, count=3, min=130.9ms, max=433.4ms
+  task_sampling: mean=347.3ms, total=694.6ms, count=2, min=259.2ms, max=435.4ms
+  task_sampling_failed: mean=134.2ms, total=134.2ms, count=1, min=134.2ms, max=134.2ms
+  scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=268.8us, total=0.8ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:37:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:20 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:20 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 23:37:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:21 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:21 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.698[m] 89.978[deg]	[grasp_sample.py: 539]
+05/13 23:37:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:21 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 23:37:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:21 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 23:37:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:21 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 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196306m	[env.py: 870]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1608965  -1.36264202 -0.19630604] yaw=-34.8deg	[env.py: 1019]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22319609 -1.04283001 -0.19630604] yaw=-68.5deg	[env.py: 1019]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=124.1ms, total=124.1ms	[env.py: 1075]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.161, -1.363, -0.196)	[env.py: 1079]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 23:37:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m	[env.py: 1086]
+05/13 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:22 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:22 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 23:37:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:26 INFO: [Worker 0] Feasibility-checked 243 grasps in 4.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.582[m] 84.498[deg]	[grasp_sample.py: 539]
+05/13 23:37:27 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:37:28 INFO: [Worker 0] Feasibility-checked 241 grasps in 16.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:28 INFO: [Worker 0] Feasible grasp found 290 (originally 290): w/ 0.657[m] 111.071[deg]	[grasp_sample.py: 539]
+05/13 23:37:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:37:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165453m	[env.py: 870]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=114.3ms, total=114.3ms	[env.py: 1105]
+05/13 23:37:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:37:29 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 23:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:37:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:30 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 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119682m	[env.py: 870]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16398449 -1.21924191 -0.11968196] yaw=-54.8deg	[env.py: 1019]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25757153 -0.96998377 -0.11968196] yaw=-61.3deg	[env.py: 1019]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=117.5ms, total=117.5ms	[env.py: 1075]
+05/13 23:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.164, -1.219, -0.120)	[env.py: 1079]
+05/13 23:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg	[env.py: 1082]
+05/13 23:37:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/13 23:37:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:31 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:33 INFO: [Worker 0] Feasibility-checked 232 grasps in 3.303s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:33 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.460[m] 64.369[deg]	[grasp_sample.py: 539]
+05/13 23:37:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:33 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 23:37:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:34 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:37:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:34 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.707[m] 87.629[deg]	[grasp_sample.py: 539]
+05/13 23:37:34 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.872s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:34 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.539[m] 64.822[deg]	[grasp_sample.py: 539]
+05/13 23:37:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:34 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:37:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:36 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 23:37:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:36 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 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155299m	[env.py: 870]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53873316 -0.99960455 -0.15529871] yaw=-83.4deg	[env.py: 1019]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42044691 -0.84155141 -0.15529871] yaw=-59.6deg	[env.py: 1019]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=98.7ms, total=98.7ms	[env.py: 1075]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -1.000, -0.155)	[env.py: 1079]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.4 deg	[env.py: 1082]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:36 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:36 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 23:37:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:36 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 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190028m	[env.py: 870]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19819542 -0.96644365 -0.19002772] yaw=-69.1deg	[env.py: 1019]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=116.7ms, total=116.8ms	[env.py: 1075]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -0.966, -0.190)	[env.py: 1079]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg	[env.py: 1082]
+05/13 23:37:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m	[env.py: 1086]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:36 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:37 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.024s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:37 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.641[m] 105.247[deg]	[grasp_sample.py: 539]
+05/13 23:37:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.442s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:37:38 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:39 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 23:37:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:39 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 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121427m	[env.py: 870]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52896333 -0.995797   -0.12142676] yaw=-34.5deg	[env.py: 1019]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.47700713 -1.01542477 -0.12142676] yaw=-64.1deg	[env.py: 1019]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=139.4ms, total=139.4ms	[env.py: 1075]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.529, -0.996, -0.121)	[env.py: 1079]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg	[env.py: 1082]
+05/13 23:37:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m	[env.py: 1086]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:40 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.030s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:37:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:40 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.671[m] 87.309[deg]	[grasp_sample.py: 539]
+05/13 23:37:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:37:41 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.723s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:41 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.535[m] 64.172[deg]	[grasp_sample.py: 539]
+05/13 23:37:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:49 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 23:37:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:49 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.535[m] 64.173[deg]	[grasp_sample.py: 539]
+05/13 23:37:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:37:51 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 23:37:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:52 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:37:52 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.169[m] 17.494[deg]	[grasp_sample.py: 539]
+05/13 23:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:37:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:37:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:37:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:37:55 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:37:55 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:37:55 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.38s:
+  episode_total: mean=35.94s, total=35.94s, count=1, min=35939.9ms, max=35939.9ms
+  sensor_polling: mean=166.8ms, total=12.68s, count=76, min=140.7ms, max=397.7ms
+  physics_step: mean=9.4ms, total=714.8ms, count=76, min=6.8ms, max=18.9ms
+  task_sampling: mean=383.6ms, total=383.6ms, count=1, min=383.6ms, max=383.6ms
+  task_specific_sample: mean=380.9ms, total=380.9ms, count=1, min=380.9ms, max=380.9ms
+  scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms
+  mj_forward_sync: mean=313.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:37:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:37:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:37:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:37:57 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 23:37:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:37:57 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 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151804m	[env.py: 870]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:37:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2954098  -1.05001514 -0.15180351] yaw=-43.3deg	[env.py: 1019]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:37:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.5ms, total=227.5ms	[env.py: 1075]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.050, -0.152)	[env.py: 1079]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg	[env.py: 1082]
+05/13 23:37:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:37:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:37:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:37:57 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:37:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:37:58 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 23:37:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:37:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:37:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:01 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.709[m] 92.786[deg]	[grasp_sample.py: 539]
+05/13 23:38:01 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:38:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:38:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:03 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 23:38:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158406m	[env.py: 870]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.27860959 -1.15585651 -0.1584065 ] yaw=-55.6deg	[env.py: 1019]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24828657 -1.04533062 -0.1584065 ] yaw=-57.7deg	[env.py: 1019]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.4ms, total=200.4ms	[env.py: 1075]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.156, -0.158)	[env.py: 1079]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg	[env.py: 1082]
+05/13 23:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m	[env.py: 1086]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:03 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.146s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:05 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.678[m] 74.518[deg]	[grasp_sample.py: 539]
+05/13 23:38:05 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:38:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:07 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 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167140m	[env.py: 870]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56895158 -0.90447187 -0.16713988] yaw=-49.2deg	[env.py: 1019]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33453656 -0.87171643 -0.16713988] yaw=-38.3deg	[env.py: 1019]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=225.1ms, total=225.1ms	[env.py: 1075]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.904, -0.167)	[env.py: 1079]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg	[env.py: 1082]
+05/13 23:38:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:07 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:07 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.288s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.665[m] 84.819[deg]	[grasp_sample.py: 539]
+05/13 23:38:09 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:11 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 23:38:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174632m	[env.py: 870]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=161.3ms, total=161.3ms	[env.py: 1105]
+05/13 23:38:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:38:11 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:38:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:13 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 23:38:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:13 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 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150256m	[env.py: 870]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37171856 -0.80029508 -0.15025591] yaw=-79.2deg	[env.py: 1019]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.5ms	[env.py: 1075]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.372, -0.800, -0.150)	[env.py: 1079]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.2 deg	[env.py: 1082]
+05/13 23:38:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:13 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:13 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 23:38:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:14 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.441s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:38:14 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:38:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:16 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 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199132m	[env.py: 870]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89860653 -0.66392008 -0.19913219] yaw=-112.8deg	[env.py: 1019]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48440457 -0.75188666 -0.19913219] yaw=-91.5deg	[env.py: 1019]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -147.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.11663511 -1.19389923 -0.19913219] yaw=-46.4deg	[env.py: 1019]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.9ms, total=163.9ms	[env.py: 1075]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.899, -0.664, -0.199)	[env.py: 1079]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -112.8 deg	[env.py: 1082]
+05/13 23:38:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.068m	[env.py: 1086]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:16 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:16 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 23:38:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.481s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:38:18 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:38:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:20 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 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108362m	[env.py: 870]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18415458 -1.33449925 -0.10836221] yaw=-40.6deg	[env.py: 1019]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=122.1ms, total=122.1ms	[env.py: 1075]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.334, -0.108)	[env.py: 1079]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg	[env.py: 1082]
+05/13 23:38:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:20 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.031s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:20 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 23:38:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.679[m] 75.960[deg]	[grasp_sample.py: 539]
+05/13 23:38:22 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:23 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 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148413m	[env.py: 870]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.88665461 -0.92942063 -0.14841267] yaw=-98.5deg	[env.py: 1019]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms	[env.py: 1075]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.887, -0.929, -0.148)	[env.py: 1079]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.5 deg	[env.py: 1082]
+05/13 23:38:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:23 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:24 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:38:24 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.641s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:24 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.566[m] 88.275[deg]	[grasp_sample.py: 539]
+05/13 23:38:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:38:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:38:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:24 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:38:27 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:38:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:38:34 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 23:38:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:35 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.711s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:35 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.441[m] 64.561[deg]	[grasp_sample.py: 539]
+05/13 23:38:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:38:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:38:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:38 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:38:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:38:38 INFO: [Worker 0] Preparing episode data: 261 timesteps	[save_utils.py: 278]
+05/13 23:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:40 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:38:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:38:40 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 23:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:40 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:38:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:38:40 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/13 23:38:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:38:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:38:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:41 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.602s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:41 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.441[m] 64.564[deg]	[grasp_sample.py: 539]
+05/13 23:38:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:38:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:38:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:38:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:38:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.77s (batch: 3.41s, save: 4.36s)	[pipeline.py: 300]
+05/13 23:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:46 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.50s:
+  episode_total: mean=45.77s, total=91.54s, count=2, min=21120.9ms, max=70421.9ms
+  sensor_polling: mean=160.6ms, total=52.50s, count=327, min=136.9ms, max=695.6ms
+  save_trajectories: mean=4.36s, total=4.36s, count=1, min=4359.9ms, max=4359.9ms
+  save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3408.2ms, max=3408.2ms
+  physics_step: mean=9.7ms, total=3.17s, count=327, min=8.0ms, max=16.9ms
+  task_sampling: mean=248.7ms, total=497.3ms, count=2, min=228.3ms, max=269.0ms
+  task_specific_sample: mean=245.0ms, total=490.1ms, count=2, min=225.1ms, max=265.0ms
+  scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.2ms, max=3.0ms
+  mj_forward_sync: mean=247.2us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.6us, 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 23:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:38:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:38:46 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 23:38:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:47 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.747s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:47 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.441[m] 64.564[deg]	[grasp_sample.py: 539]
+05/13 23:38:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:38:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:38:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:38:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.70s (batch: 3.00s, save: 4.70s)	[pipeline.py: 300]
+05/13 23:38:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:38:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116923m	[env.py: 870]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12459668 -1.23314748 -0.1169231 ] yaw=-7.8deg	[env.py: 1019]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53522099 -0.74617503 -0.1169231 ] yaw=-59.7deg	[env.py: 1019]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19715104 -1.44022049 -0.1169231 ] yaw=-13.4deg	[env.py: 1019]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.7ms, total=164.7ms	[env.py: 1075]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.125, -1.233, -0.117)	[env.py: 1079]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.8 deg	[env.py: 1082]
+05/13 23:38:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:48 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:48 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=1.08s:
+  episode_total: mean=16.03s, total=80.15s, count=5, min=121.8ms, max=68617.6ms
+  sensor_polling: mean=150.9ms, total=41.18s, count=273, min=130.1ms, max=498.0ms
+  save_trajectories: mean=4.70s, total=4.70s, count=1, min=4699.6ms, max=4699.6ms
+  save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3001.2ms, max=3001.2ms
+  physics_step: mean=9.9ms, total=2.70s, count=273, min=7.7ms, max=20.1ms
+  task_specific_sample: mean=238.6ms, total=1.19s, count=5, min=117.5ms, max=277.5ms
+  task_sampling: mean=270.6ms, total=1.08s, count=4, min=260.0ms, max=279.2ms
+  task_sampling_failed: mean=121.8ms, total=121.8ms, count=1, min=121.8ms, max=121.8ms
+  scene_randomize: mean=863.5us, total=4.3ms, count=5, min=0.6ms, max=1.4ms
+  mj_forward_sync: mean=235.8us, total=1.2ms, count=5, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:38:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:50 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 23:38:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:50 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 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136632m	[env.py: 870]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=219.2ms, total=219.3ms	[env.py: 1105]
+05/13 23:38:50 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:38:50 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:50 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.104s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:50 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.719[m] 87.003[deg]	[grasp_sample.py: 539]
+05/13 23:38:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:38:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:38:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 10.51s (batch: 5.37s, save: 5.14s)	[pipeline.py: 300]
+05/13 23:38:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:51 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:38:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:38:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:51 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 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116142m	[env.py: 870]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61373922 -0.73231805 -0.11614179] yaw=-89.9deg	[env.py: 1019]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44867596 -0.9682373  -0.11614179] yaw=-81.7deg	[env.py: 1019]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:51 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.24s:
+  episode_total: mean=100.55s, total=100.55s, count=1, min=100551.5ms, max=100551.5ms
+  sensor_polling: mean=169.1ms, total=47.52s, count=281, min=137.5ms, max=432.0ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5366.9ms, max=5366.9ms
+  save_trajectories: mean=5.14s, total=5.14s, count=1, min=5143.8ms, max=5143.8ms
+  physics_step: mean=10.4ms, total=2.92s, count=281, min=8.3ms, max=17.2ms
+  task_sampling: mean=237.7ms, total=237.7ms, count=1, min=237.7ms, max=237.7ms
+  task_specific_sample: mean=235.3ms, total=235.3ms, count=1, min=235.3ms, max=235.3ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=239.3us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=14.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.8ms, total=178.9ms	[env.py: 1075]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.614, -0.732, -0.116)	[env.py: 1079]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.9 deg	[env.py: 1082]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:52 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:52 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 23:38:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:52 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 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124863m	[env.py: 870]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.79837339 -0.88968567 -0.12486291] yaw=-53.7deg	[env.py: 1019]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13930289 -1.30796129 -0.12486291] yaw=-6.6deg	[env.py: 1019]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.3ms, total=132.4ms	[env.py: 1075]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.798, -0.890, -0.125)	[env.py: 1079]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.7 deg	[env.py: 1082]
+05/13 23:38:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:52 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:38:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:38:52 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:38:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:53 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:38:53 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=False episode_total=2.25s:
+  episode_total: mean=5.50s, total=43.97s, count=8, min=166.7ms, max=29439.3ms
+  sensor_polling: mean=146.6ms, total=9.67s, count=66, min=134.2ms, max=382.9ms
+  task_specific_sample: mean=300.5ms, total=2.40s, count=8, min=164.4ms, max=375.6ms
+  task_sampling: mean=322.0ms, total=2.25s, count=7, min=260.8ms, max=378.4ms
+  physics_step: mean=8.3ms, total=544.8ms, count=66, min=6.2ms, max=12.7ms
+  task_sampling_failed: mean=166.7ms, total=166.7ms, count=1, min=166.7ms, max=166.7ms
+  scene_randomize: mean=830.3us, total=6.6ms, count=8, min=0.8ms, max=0.9ms
+  mj_forward_sync: mean=240.5us, total=1.9ms, count=8, min=0.2ms, max=0.3ms
+  policy_setup: mean=17.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:38:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.728s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:38:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.677[m] 86.524[deg]	[grasp_sample.py: 539]
+05/13 23:38:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.496s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:38:53 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:38:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:38:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:38:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:38:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:54 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 23:38:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:54 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 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146425m	[env.py: 870]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 174.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8958789  -0.74439162 -0.1464252 ] yaw=-85.6deg	[env.py: 1019]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:54 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 23:38:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144437m	[env.py: 870]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=303.1ms, total=303.1ms	[env.py: 1075]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.896, -0.744, -0.146)	[env.py: 1079]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.6 deg	[env.py: 1082]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=216.9ms, total=216.9ms	[env.py: 1105]
+05/13 23:38:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:38:55 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 23:38:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:55 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:55 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 23:38:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:55 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 23:38:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130890m	[env.py: 870]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=102.6ms, total=102.6ms	[env.py: 1105]
+05/13 23:38:56 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:38:56 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 23:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:56 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 23:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:56 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 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176024m	[env.py: 870]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.79229946 -0.6527469  -0.17602427] yaw=-64.7deg	[env.py: 1019]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.4ms, total=121.4ms	[env.py: 1075]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.792, -0.653, -0.176)	[env.py: 1079]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg	[env.py: 1082]
+05/13 23:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m	[env.py: 1086]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:57 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:38:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:38:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:38:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:38:58 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 23:38:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:38:58 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 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124371m	[env.py: 870]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:38:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31842616 -0.97019356 -0.12437088] yaw=-29.8deg	[env.py: 1019]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -174.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51041052 -0.7570752  -0.12437088] yaw=-59.8deg	[env.py: 1019]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.38309946 -0.79431184 -0.12437088] yaw=-48.8deg	[env.py: 1019]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:38:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=75.5ms, total=75.5ms	[env.py: 1075]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.318, -0.970, -0.124)	[env.py: 1079]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.8 deg	[env.py: 1082]
+05/13 23:38:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:38:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:38:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:38:58 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:38:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:38:58 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 23:38:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:38:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.047s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:38:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.414s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:38:58 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:39:00 INFO: [Worker 0] Feasibility-checked 244 grasps in 4.841s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:00 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.747[m] 110.221[deg]	[grasp_sample.py: 539]
+05/13 23:39:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:00 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 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196337m	[env.py: 870]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09714635 -1.10161369 -0.19633694] yaw=-56.7deg	[env.py: 1019]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.3ms, total=269.4ms	[env.py: 1075]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.102, -0.196)	[env.py: 1079]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 23:39:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m	[env.py: 1086]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:00 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:00 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:01 INFO: [Worker 0] Feasibility-checked 240 grasps in 3.472s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:01 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.771[m] 88.458[deg]	[grasp_sample.py: 539]
+05/13 23:39:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.452s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:39:02 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:39:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:39:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:03 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 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113840m	[env.py: 870]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.78065237 -0.79918445 -0.11383997] yaw=-62.7deg	[env.py: 1019]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.3ms, total=244.3ms	[env.py: 1075]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.781, -0.799, -0.114)	[env.py: 1079]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg	[env.py: 1082]
+05/13 23:39:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:03 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179019m	[env.py: 870]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.063s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=130.4ms, total=130.4ms	[env.py: 1105]
+05/13 23:39:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:39:04 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:05 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 23:39:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124297m	[env.py: 870]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78934335 -0.88565082 -0.1242969 ] yaw=-63.1deg	[env.py: 1019]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50783874 -0.78911174 -0.1242969 ] yaw=-63.7deg	[env.py: 1019]
+05/13 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=201.1ms, total=201.2ms	[env.py: 1075]
+05/13 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.789, -0.886, -0.124)	[env.py: 1079]
+05/13 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.1 deg	[env.py: 1082]
+05/13 23:39:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:06 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:06 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 23:39:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:06 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:06 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.743[m] 75.468[deg]	[grasp_sample.py: 539]
+05/13 23:39:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:07 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 23:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:08 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.434s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.507[m] 58.896[deg]	[grasp_sample.py: 539]
+05/13 23:39:09 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.954s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:09 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.658[m] 95.346[deg]	[grasp_sample.py: 539]
+05/13 23:39:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:39:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:11 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 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166810m	[env.py: 870]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13746928 -1.29671564 -0.16680952] yaw=-35.3deg	[env.py: 1019]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=138.1ms, total=138.1ms	[env.py: 1075]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.137, -1.297, -0.167)	[env.py: 1079]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.3 deg	[env.py: 1082]
+05/13 23:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:11 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:11 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 23:39:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.651[m] 84.198[deg]	[grasp_sample.py: 539]
+05/13 23:39:13 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:15 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 23:39:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:15 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 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158462m	[env.py: 870]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08612815 -1.23836017 -0.15846159] yaw=-7.0deg	[env.py: 1019]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.62771812 -0.88049489 -0.15846159] yaw=-78.5deg	[env.py: 1019]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=138.6ms, total=138.7ms	[env.py: 1075]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.238, -0.158)	[env.py: 1079]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.0 deg	[env.py: 1082]
+05/13 23:39:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:15 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:15 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 23:39:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:17 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.488s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:39:17 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:39:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:19 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 23:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:19 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 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193592m	[env.py: 870]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64568977 -0.81111609 -0.19359224] yaw=-54.4deg	[env.py: 1019]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4097609  -0.93722653 -0.19359224] yaw=-36.7deg	[env.py: 1019]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.7ms, total=136.8ms	[env.py: 1075]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.646, -0.811, -0.194)	[env.py: 1079]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg	[env.py: 1082]
+05/13 23:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:19 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:19 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 23:39:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:20 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 23:39:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.350s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:20 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.690[m] 75.896[deg]	[grasp_sample.py: 539]
+05/13 23:39:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:21 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 23:39:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:23 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.528[m] 70.888[deg]	[grasp_sample.py: 539]
+05/13 23:39:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:28 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 23:39:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.715s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:31 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.528[m] 70.891[deg]	[grasp_sample.py: 539]
+05/13 23:39:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:36 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 23:39:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.903s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:39 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.528[m] 70.891[deg]	[grasp_sample.py: 539]
+05/13 23:39:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:39:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:39:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:39:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:39:44 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:39:44 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=False episode_total=1.06s:
+  episode_total: mean=8.57s, total=42.84s, count=5, min=136.1ms, max=38733.4ms
+  sensor_polling: mean=143.3ms, total=10.03s, count=70, min=133.6ms, max=220.1ms
+  task_specific_sample: mean=280.9ms, total=1.40s, count=5, min=133.7ms, max=431.0ms
+  task_sampling: mean=352.8ms, total=1.06s, count=3, min=276.2ms, max=433.5ms
+  physics_step: mean=8.1ms, total=566.7ms, count=70, min=6.2ms, max=14.0ms
+  task_sampling_failed: mean=179.4ms, total=358.7ms, count=2, min=136.1ms, max=222.6ms
+  scene_randomize: mean=965.1us, total=4.8ms, count=5, min=0.8ms, max=1.2ms
+  mj_forward_sync: mean=262.4us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:39:44 INFO: [Worker 0] Feasibility-checked 242 grasps in 7.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:44 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.071[m] 9.031[deg]	[grasp_sample.py: 539]
+05/13 23:39:45 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:46 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 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189549m	[env.py: 870]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09681096 -1.36870643 -0.18954864] yaw=-8.8deg	[env.py: 1019]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20131156 -1.3270633  -0.18954864] yaw=-3.0deg	[env.py: 1019]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.6ms, total=258.6ms	[env.py: 1075]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.369, -0.190)	[env.py: 1079]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.8 deg	[env.py: 1082]
+05/13 23:39:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:46 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:47 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 23:39:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146522m	[env.py: 870]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24764727 -1.06976853 -0.14652177] yaw=-38.8deg	[env.py: 1019]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.5ms, total=147.6ms	[env.py: 1075]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -1.070, -0.147)	[env.py: 1079]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg	[env.py: 1082]
+05/13 23:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m	[env.py: 1086]
+05/13 23:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:48 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:48 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 23:39:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.064s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:39:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:39:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:39:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 147 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.744s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.720[m] 88.943[deg]	[grasp_sample.py: 539]
+05/13 23:39:51 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:51 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:39:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141019m	[env.py: 870]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49690333 -0.90007817 -0.14101923] yaw=-70.2deg	[env.py: 1019]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=123.5ms, total=123.5ms	[env.py: 1075]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.497, -0.900, -0.141)	[env.py: 1079]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg	[env.py: 1082]
+05/13 23:39:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:54 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:55 INFO: [Worker 0] Feasibility-checked 147 grasps in 4.285s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:55 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.048[m] 8.599[deg]	[grasp_sample.py: 539]
+05/13 23:39:55 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:56 INFO: [Worker 0] Feasibility-checked 234 grasps in 9.619s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:56 INFO: [Worker 0] Feasible grasp found 136 (originally 136): w/ 0.656[m] 88.869[deg]	[grasp_sample.py: 539]
+05/13 23:39:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.630s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:39:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.683[m] 85.689[deg]	[grasp_sample.py: 539]
+05/13 23:39:56 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:57 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:39:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:57 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 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137345m	[env.py: 870]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12921498 -1.29408241 -0.13734527] yaw=-19.7deg	[env.py: 1019]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64973435 -0.92979068 -0.13734527] yaw=-49.6deg	[env.py: 1019]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56951407 -0.79026098 -0.13734527] yaw=-50.6deg	[env.py: 1019]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=93.7ms, total=93.8ms	[env.py: 1075]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.294, -0.137)	[env.py: 1079]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.7 deg	[env.py: 1082]
+05/13 23:39:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.930m	[env.py: 1086]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:57 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:39:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:58 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 23:39:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:58 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 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149960m	[env.py: 870]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25595168 -1.22781229 -0.14996047] yaw=-60.2deg	[env.py: 1019]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.8ms	[env.py: 1075]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.228, -0.150)	[env.py: 1079]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.2 deg	[env.py: 1082]
+05/13 23:39:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m	[env.py: 1086]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:59 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:59 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 23:39:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:39:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:39:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:39:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:39:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:39:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:39:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:39:59 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 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151831m	[env.py: 870]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:39:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28415913 -0.8952511  -0.1518313 ] yaw=-73.9deg	[env.py: 1019]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56821875 -0.74374935 -0.1518313 ] yaw=-56.5deg	[env.py: 1019]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:39:59 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 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -0.895, -0.152)	[env.py: 1079]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg	[env.py: 1082]
+05/13 23:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:39:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:39:59 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:39:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:39:59 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 23:39:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.478s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:00 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.661[m] 82.954[deg]	[grasp_sample.py: 539]
+05/13 23:40:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.541s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:40:01 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:40:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.179s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:02 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.669[m] 93.485[deg]	[grasp_sample.py: 539]
+05/13 23:40:03 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:40:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:04 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 23:40:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:04 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 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171872m	[env.py: 870]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74289379 -0.85584154 -0.17187242] yaw=-97.0deg	[env.py: 1019]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.71057775 -0.89963527 -0.17187242] yaw=-50.2deg	[env.py: 1019]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.06301498 -1.36271538 -0.17187242] yaw=-33.0deg	[env.py: 1019]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=55.0ms, total=55.0ms	[env.py: 1075]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.743, -0.856, -0.172)	[env.py: 1079]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.0 deg	[env.py: 1082]
+05/13 23:40:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:04 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:40:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:05 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 23:40:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:05 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 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173049m	[env.py: 870]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15982854 -1.16919772 -0.17304927] yaw=-32.4deg	[env.py: 1019]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24257073 -1.34340451 -0.17304927] yaw=-49.7deg	[env.py: 1019]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 6.74771138e-04 -1.30136860e+00 -1.73049271e-01] yaw=-34.0deg	[env.py: 1019]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.1ms, total=115.1ms	[env.py: 1075]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.169, -0.173)	[env.py: 1079]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg	[env.py: 1082]
+05/13 23:40:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:05 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:40:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:40:05 INFO: [Worker 0] Preparing episode data: 292 timesteps	[save_utils.py: 278]
+05/13 23:40:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.417s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:05 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.671[m] 93.160[deg]	[grasp_sample.py: 539]
+05/13 23:40:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:05 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:05 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 23:40:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:05 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:40:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:40:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110174m	[env.py: 870]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55502657 -0.91732831 -0.11017424] yaw=-46.2deg	[env.py: 1019]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10969766 -1.04689876 -0.11017424] yaw=-11.8deg	[env.py: 1019]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32343053 -0.90511635 -0.11017424] yaw=-76.3deg	[env.py: 1019]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.1ms	[env.py: 1075]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.917, -0.110)	[env.py: 1079]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg	[env.py: 1082]
+05/13 23:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m	[env.py: 1086]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:08 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:40:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.660s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:13 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.704[m] 74.326[deg]	[grasp_sample.py: 539]
+05/13 23:40:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:40:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:40:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.60s (batch: 3.08s, save: 5.52s)	[pipeline.py: 300]
+05/13 23:40:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:14 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.55s:
+  episode_total: mean=19.67s, total=78.67s, count=4, min=107.9ms, max=76392.5ms
+  sensor_polling: mean=157.2ms, total=45.74s, count=291, min=135.1ms, max=442.3ms
+  save_trajectories: mean=5.52s, total=5.52s, count=1, min=5517.3ms, max=5517.3ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3079.7ms, max=3079.7ms
+  physics_step: mean=10.0ms, total=2.92s, count=291, min=7.7ms, max=33.4ms
+  task_specific_sample: mean=217.3ms, total=869.1ms, count=4, min=105.8ms, max=337.2ms
+  task_sampling: mean=272.8ms, total=545.7ms, count=2, min=205.4ms, max=340.2ms
+  task_sampling_failed: mean=167.4ms, total=334.7ms, count=2, min=107.9ms, max=226.8ms
+  scene_randomize: mean=976.5us, total=3.9ms, count=4, min=0.8ms, max=1.3ms
+  mj_forward_sync: mean=242.6us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=21.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:40:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:40:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189698m	[env.py: 870]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.1974396  -1.15177876 -0.18969823] yaw=-24.0deg	[env.py: 1019]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59753924 -0.92351888 -0.18969823] yaw=-89.1deg	[env.py: 1019]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3416272  -1.02432715 -0.18969823] yaw=-27.5deg	[env.py: 1019]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.0ms, total=512.1ms	[env.py: 1075]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.197, -1.152, -0.190)	[env.py: 1079]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.0 deg	[env.py: 1082]
+05/13 23:40:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:17 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:17 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 23:40:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:19 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.655s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:19 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.677[m] 83.446[deg]	[grasp_sample.py: 539]
+05/13 23:40:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:40:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:40:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:29 INFO: [Worker 0] Feasibility-checked 236 grasps in 24.007s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:29 INFO: [Worker 0] Feasible grasp found 319 (originally 12): w/ 0.647[m] 143.643[deg]	[grasp_sample.py: 539]
+05/13 23:40:29 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:40:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:31 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 23:40:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:31 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 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136679m	[env.py: 870]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21435103 -1.28884717 -0.13667892] yaw=-4.2deg	[env.py: 1019]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72182035 -0.73375559 -0.13667892] yaw=-78.3deg	[env.py: 1019]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51675562 -0.80878477 -0.13667892] yaw=-83.9deg	[env.py: 1019]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.0ms, total=104.1ms	[env.py: 1075]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.214, -1.289, -0.137)	[env.py: 1079]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.2 deg	[env.py: 1082]
+05/13 23:40:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:31 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:31 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 23:40:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:35 INFO: [Worker 0] Feasibility-checked 229 grasps in 3.482s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:35 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.682[m] 85.255[deg]	[grasp_sample.py: 539]
+05/13 23:40:36 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:40:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:37 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 23:40:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117284m	[env.py: 870]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.79335632 -0.69230888 -0.11728362] yaw=-89.3deg	[env.py: 1019]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.40540129 -1.02246773 -0.11728362] yaw=-70.8deg	[env.py: 1019]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25520479 -1.22172051 -0.11728362] yaw=-49.6deg	[env.py: 1019]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.3ms, total=78.3ms	[env.py: 1075]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.793, -0.692, -0.117)	[env.py: 1079]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.3 deg	[env.py: 1082]
+05/13 23:40:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m	[env.py: 1086]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:37 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:38 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 23:40:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.376s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:40:39 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:40:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:40:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:40:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:40:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:40:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:40:41 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 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183065m	[env.py: 870]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:40:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.83214719 -0.7635293  -0.18306524] yaw=-86.9deg	[env.py: 1019]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.406014   -0.80309524 -0.18306524] yaw=-62.5deg	[env.py: 1019]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:40:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=140.1ms, total=140.1ms	[env.py: 1075]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.832, -0.764, -0.183)	[env.py: 1079]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.9 deg	[env.py: 1082]
+05/13 23:40:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:40:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:40:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:40:41 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:40:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:40:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:40:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 247 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:42 INFO: [Worker 0] Feasibility-checked 247 grasps in 1.017s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:42 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.707[m] 97.442[deg]	[grasp_sample.py: 539]
+05/13 23:40:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:40:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:43 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:40:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:40:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:40:44 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 23:40:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 172 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:40:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:49 INFO: [Worker 0] Feasibility-checked 172 grasps in 5.012s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:49 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.071[m] 7.022[deg]	[grasp_sample.py: 539]
+05/13 23:40:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:40:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:40:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:40:55 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 23:40:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:40:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.053s, found 172 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:40:56 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:40:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:40:56 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:40:58 INFO: [Worker 0] Feasibility-checked 172 grasps in 3.335s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:40:58 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.089[m] 4.732[deg]	[grasp_sample.py: 539]
+05/13 23:40:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:40:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:40:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:40:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:41:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:41:04 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 23:41:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.052s, found 172 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:41:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:41:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.86s (batch: 3.12s, save: 4.75s)	[pipeline.py: 300]
+05/13 23:41:05 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.81s:
+  episode_total: mean=38.66s, total=77.31s, count=2, min=10667.2ms, max=66647.3ms
+  sensor_polling: mean=149.0ms, total=39.32s, count=264, min=133.3ms, max=279.9ms
+  save_trajectories: mean=4.75s, total=4.75s, count=1, min=4746.5ms, max=4746.5ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3118.3ms, max=3118.3ms
+  physics_step: mean=9.6ms, total=2.53s, count=264, min=7.6ms, max=16.0ms
+  task_sampling: mean=403.1ms, total=806.2ms, count=2, min=381.1ms, max=425.0ms
+  task_specific_sample: mean=400.7ms, total=801.3ms, count=2, min=378.3ms, max=423.0ms
+  scene_randomize: mean=902.4us, total=1.8ms, count=2, min=0.9ms, max=0.9ms
+  mj_forward_sync: mean=263.0us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:41:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:06 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:41:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:41:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131256m	[env.py: 870]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06332674 -1.37320527 -0.13125646] yaw=-17.0deg	[env.py: 1019]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=90.3ms, total=90.3ms	[env.py: 1075]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.063, -1.373, -0.131)	[env.py: 1079]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.0 deg	[env.py: 1082]
+05/13 23:41:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 23:41:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:07 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:07 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 23:41:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:08 INFO: [Worker 0] Feasibility-checked 172 grasps in 3.833s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:08 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.089[m] 4.732[deg]	[grasp_sample.py: 539]
+05/13 23:41:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:08 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.557s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:41:08 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:10 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 23:41:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:10 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 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137105m	[env.py: 870]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.81159898 -0.69383583 -0.13710537] yaw=-62.9deg	[env.py: 1019]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00628866 -1.19109535 -0.13710537] yaw=-33.9deg	[env.py: 1019]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68427732 -0.83019155 -0.13710537] yaw=-61.1deg	[env.py: 1019]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.3ms, total=76.3ms	[env.py: 1075]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.812, -0.694, -0.137)	[env.py: 1079]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg	[env.py: 1082]
+05/13 23:41:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:10 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:41:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.517s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:41:12 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:13 INFO: [Worker 0] Object is not in grasp! 0.00166 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:41:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:41:13 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 23:41:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.060s, found 165 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:41:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:41:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:41:13 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:41:13 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=False episode_total=2.41s:
+  episode_total: mean=17.55s, total=122.83s, count=7, min=1232.3ms, max=65372.2ms
+  sensor_polling: mean=160.1ms, total=51.73s, count=323, min=142.8ms, max=512.2ms
+  physics_step: mean=9.2ms, total=2.99s, count=323, min=6.5ms, max=27.5ms
+  task_sampling: mean=343.9ms, total=2.41s, count=7, min=210.5ms, max=541.9ms
+  task_specific_sample: mean=340.5ms, total=2.38s, count=7, min=208.2ms, max=538.8ms
+  scene_randomize: mean=1.4ms, total=9.6ms, count=7, min=0.8ms, max=1.9ms
+  mj_forward_sync: mean=274.9us, total=1.9ms, count=7, min=0.2ms, max=0.3ms
+  policy_setup: mean=25.5us, total=0.2ms, 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 23:41:13 INFO: [Worker 0] Feasibility-checked 165 grasps in 0.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:13 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 0.744[deg]	[grasp_sample.py: 539]
+05/13 23:41:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:14 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 23:41:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:14 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 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162171m	[env.py: 870]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20890097 -1.09675254 -0.16217124] yaw=-18.7deg	[env.py: 1019]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17363968 -1.00192688 -0.16217124] yaw=-24.1deg	[env.py: 1019]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78954407 -0.88728081 -0.16217124] yaw=-96.2deg	[env.py: 1019]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=59.9ms, total=59.9ms	[env.py: 1075]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.209, -1.097, -0.162)	[env.py: 1079]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.7 deg	[env.py: 1082]
+05/13 23:41:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m	[env.py: 1086]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:14 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:41:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:41:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131636m	[env.py: 870]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45478168 -0.7818182  -0.13163586] yaw=-84.2deg	[env.py: 1019]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=127.8ms, total=127.8ms	[env.py: 1075]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.782, -0.132)	[env.py: 1079]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.2 deg	[env.py: 1082]
+05/13 23:41:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:16 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:41:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:17 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.733s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:17 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.760[m] 78.103[deg]	[grasp_sample.py: 539]
+05/13 23:41:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:41:18 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.526s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:41:18 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:41:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:41:19 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:41:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:41:19 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 23:41:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:41:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160319m	[env.py: 870]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33724974 -0.99973962 -0.16031932] yaw=-61.0deg	[env.py: 1019]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35704328 -1.1705627  -0.16031932] yaw=-71.6deg	[env.py: 1019]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=131.0ms, total=131.0ms	[env.py: 1075]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.000, -0.160)	[env.py: 1079]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 23:41:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:21 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:41:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.649s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.684[m] 85.535[deg]	[grasp_sample.py: 539]
+05/13 23:41:23 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:41:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:26 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 23:41:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:26 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 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156201m	[env.py: 870]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=164.4ms, total=164.4ms	[env.py: 1105]
+05/13 23:41:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:41:26 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:41:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:41:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:41:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.36s (batch: 3.26s, save: 5.10s)	[pipeline.py: 300]
+05/13 23:41:28 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.67s:
+  episode_total: mean=71.88s, total=71.88s, count=1, min=71883.8ms, max=71883.8ms
+  sensor_polling: mean=156.7ms, total=42.63s, count=272, min=145.1ms, max=468.3ms
+  save_trajectories: mean=5.10s, total=5.10s, count=1, min=5104.4ms, max=5104.4ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3255.2ms, max=3255.2ms
+  physics_step: mean=9.9ms, total=2.71s, count=272, min=7.6ms, max=13.8ms
+  task_sampling: mean=675.0ms, total=675.0ms, count=1, min=675.0ms, max=675.0ms
+  task_specific_sample: mean=672.0ms, total=672.0ms, count=1, min=672.0ms, max=672.0ms
+  scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms
+  mj_forward_sync: mean=290.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:41:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:29 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 23:41:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:29 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 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151432m	[env.py: 870]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67792018 -0.88582147 -0.15143192] yaw=-68.7deg	[env.py: 1019]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=131.7ms, total=131.7ms	[env.py: 1075]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.678, -0.886, -0.151)	[env.py: 1079]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.7 deg	[env.py: 1082]
+05/13 23:41:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:29 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:29 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 23:41:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.059s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:30 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 23:41:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:30 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 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190285m	[env.py: 870]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.763s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:30 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.653[m] 91.870[deg]	[grasp_sample.py: 539]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.05435645 -1.24416253 -0.19028455] yaw=-53.0deg	[env.py: 1019]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42314741 -0.94246342 -0.19028455] yaw=-33.2deg	[env.py: 1019]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=295.9ms, total=295.9ms	[env.py: 1075]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.054, -1.244, -0.190)	[env.py: 1079]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg	[env.py: 1082]
+05/13 23:41:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:30 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:30 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 23:41:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.563s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:41:32 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:41:34 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:35 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 23:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:35 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 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193380m	[env.py: 870]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=104.9ms, total=104.9ms	[env.py: 1105]
+05/13 23:41:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:41:35 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:41:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:41:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:41:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:41:37 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 23:41:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:41:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146152m	[env.py: 870]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:41:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50720396 -0.86617776 -0.14615231] yaw=-59.5deg	[env.py: 1019]
+05/13 23:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:41:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=126.8ms, total=126.8ms	[env.py: 1075]
+05/13 23:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.507, -0.866, -0.146)	[env.py: 1079]
+05/13 23:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.5 deg	[env.py: 1082]
+05/13 23:41:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m	[env.py: 1086]
+05/13 23:41:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:41:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:41:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:41:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:41:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:41:38 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:41:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:41:38 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 23:41:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.715[m] 95.838[deg]	[grasp_sample.py: 539]
+05/13 23:41:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:41:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:47 INFO: [Worker 0] Object is not in grasp! 0.00090 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:41:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:41:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:41:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:41:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.068s, found 81 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:41:49 INFO: [Worker 0] Feasibility-checked 81 grasps in 1.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:41:49 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.035[m] 1.734[deg]	[grasp_sample.py: 539]
+05/13 23:41:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:41:49 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:41:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:41:49 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:41:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:41:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:41:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:41:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:41:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:41:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:41:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.97s (batch: 3.67s, save: 5.30s)	[pipeline.py: 300]
+05/13 23:41:59 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=True episode_total=2.80s:
+  episode_total: mean=17.54s, total=175.42s, count=10, min=1690.2ms, max=77858.9ms
+  sensor_polling: mean=157.2ms, total=78.15s, count=497, min=131.6ms, max=497.4ms
+  save_trajectories: mean=5.30s, total=5.30s, count=1, min=5296.1ms, max=5296.1ms
+  physics_step: mean=9.7ms, total=4.84s, count=497, min=7.3ms, max=16.2ms
+  save_batch_prep: mean=3.67s, total=3.67s, count=1, min=3671.1ms, max=3671.1ms
+  task_sampling: mean=279.7ms, total=2.80s, count=10, min=231.6ms, max=327.7ms
+  task_specific_sample: mean=277.2ms, total=2.77s, count=10, min=229.4ms, max=325.3ms
+  scene_randomize: mean=1.1ms, total=10.9ms, count=10, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=255.2us, total=2.6ms, count=10, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.9us, total=0.1ms, 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 23:42:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:42:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:00 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 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133960m	[env.py: 870]
+05/13 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=426.2ms, total=426.2ms	[env.py: 1105]
+05/13 23:42:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:42:01 ERROR: [Worker 0] Worker 0 house 1 episode 39 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:42:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:42:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186176m	[env.py: 870]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06440206 -1.34048209 -0.18617606] yaw=-35.0deg	[env.py: 1019]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.02306389 -1.2705322  -0.18617606] yaw=-30.7deg	[env.py: 1019]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:42:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.3ms, total=265.3ms	[env.py: 1075]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.064, -1.340, -0.186)	[env.py: 1079]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg	[env.py: 1082]
+05/13 23:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:42:03 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:42:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:42:03 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 23:42:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:42:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:42:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.504s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:42:05 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:42:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:42:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:07 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 23:42:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120898m	[env.py: 870]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36177901 -0.9226597  -0.12089826] yaw=-57.1deg	[env.py: 1019]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33813352 -0.82856434 -0.12089826] yaw=-27.6deg	[env.py: 1019]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29473838 -0.93700329 -0.12089826] yaw=-62.8deg	[env.py: 1019]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:42:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=382.6ms, total=382.6ms	[env.py: 1075]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -0.923, -0.121)	[env.py: 1079]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg	[env.py: 1082]
+05/13 23:42:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:07 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:42:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:42:07 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:42:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:42:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:42:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:42:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:42:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.939s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:42:10 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.751[m] 92.090[deg]	[grasp_sample.py: 539]
+05/13 23:42:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:42:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:42:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:17 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:42:20 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:42:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:42:20 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:42:27 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:42:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:42:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:42:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.64s (batch: 3.26s, save: 5.38s)	[pipeline.py: 300]
+05/13 23:42:30 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.65s:
+  episode_total: mean=26.64s, total=79.93s, count=3, min=1834.7ms, max=76209.2ms
+  sensor_polling: mean=148.1ms, total=44.42s, count=300, min=135.7ms, max=356.9ms
+  save_trajectories: mean=5.38s, total=5.38s, count=1, min=5376.8ms, max=5376.8ms
+  save_batch_prep: mean=3.26s, total=3.26s, count=1, min=3264.6ms, max=3264.6ms
+  physics_step: mean=9.5ms, total=2.84s, count=300, min=7.3ms, max=25.4ms
+  task_sampling: mean=216.0ms, total=647.9ms, count=3, min=206.2ms, max=224.1ms
+  task_specific_sample: mean=213.3ms, total=639.9ms, count=3, min=204.0ms, max=221.4ms
+  scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=0.9ms, max=1.6ms
+  mj_forward_sync: mean=270.5us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.8us, 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 23:42:31 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:42:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:42:31 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:42:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:31 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 23:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:31 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 23:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111555m	[env.py: 870]
+05/13 23:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=113.3ms, total=113.3ms	[env.py: 1105]
+05/13 23:42:32 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:33 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 23:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180692m	[env.py: 870]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.06620835 -1.35954505 -0.18069174] yaw=2.6deg	[env.py: 1019]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40547215 -0.82387573 -0.18069174] yaw=-57.5deg	[env.py: 1019]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68542671 -0.86902778 -0.18069174] yaw=-91.1deg	[env.py: 1019]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:42:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=113.2ms, total=113.2ms	[env.py: 1075]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.360, -0.181)	[env.py: 1079]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 2.6 deg	[env.py: 1082]
+05/13 23:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:42:34 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:42:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:42:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:42:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:42:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 226 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:42:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:36 INFO: [Worker 0] Feasibility-checked 226 grasps in 2.578s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:42:36 INFO: [Worker 0] Feasible grasp found 546 (originally 239): w/ 0.704[m] 148.626[deg]	[grasp_sample.py: 539]
+05/13 23:42:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:42:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:42:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:42:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:42:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:42:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.29s (batch: 4.50s, save: 4.79s)	[pipeline.py: 300]
+05/13 23:42:41 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=0.86s:
+  episode_total: mean=19.23s, total=76.91s, count=4, min=171.6ms, max=72251.4ms
+  sensor_polling: mean=160.7ms, total=42.74s, count=266, min=137.6ms, max=416.2ms
+  save_trajectories: mean=4.79s, total=4.79s, count=1, min=4787.5ms, max=4787.5ms
+  save_batch_prep: mean=4.50s, total=4.50s, count=1, min=4500.0ms, max=4500.0ms
+  physics_step: mean=9.9ms, total=2.63s, count=266, min=7.7ms, max=19.0ms
+  task_specific_sample: mean=255.3ms, total=1.02s, count=4, min=168.0ms, max=286.2ms
+  task_sampling: mean=287.1ms, total=861.2ms, count=3, min=283.1ms, max=289.8ms
+  task_sampling_failed: mean=171.5ms, total=171.5ms, count=1, min=171.5ms, max=171.5ms
+  scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.9ms, max=1.2ms
+  mj_forward_sync: mean=283.5us, total=1.1ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:42:41 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:42 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:42:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:42:42 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 23:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:43 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 23:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135574m	[env.py: 870]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -141.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=356.3ms, total=356.3ms	[env.py: 1105]
+05/13 23:42:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:42:44 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 23:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:46 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 23:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180467m	[env.py: 870]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.84808079 -0.86991018 -0.18046715] yaw=-82.2deg	[env.py: 1019]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=441.1ms, total=441.1ms	[env.py: 1075]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.870, -0.180)	[env.py: 1079]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.2 deg	[env.py: 1082]
+05/13 23:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m	[env.py: 1086]
+05/13 23:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:42:47 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:42:47 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 23:42:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:42:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.063s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:42:48 INFO: [Worker 0] Feasibility-checked 246 grasps in 0.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:42:48 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.634[m] 97.902[deg]	[grasp_sample.py: 539]
+05/13 23:42:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:42:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:42:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:42:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:42:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 10.85s (batch: 5.67s, save: 5.17s)	[pipeline.py: 300]
+05/13 23:42:53 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.75s:
+  episode_total: mean=26.12s, total=78.37s, count=3, min=112.9ms, max=76108.1ms
+  sensor_polling: mean=156.9ms, total=43.94s, count=280, min=131.6ms, max=436.5ms
+  save_batch_prep: mean=5.67s, total=5.67s, count=1, min=5671.4ms, max=5671.4ms
+  save_trajectories: mean=5.17s, total=5.17s, count=1, min=5174.2ms, max=5174.2ms
+  physics_step: mean=9.9ms, total=2.77s, count=280, min=8.3ms, max=17.1ms
+  task_specific_sample: mean=285.9ms, total=857.7ms, count=3, min=109.5ms, max=469.6ms
+  task_sampling: mean=376.2ms, total=752.4ms, count=2, min=280.4ms, max=472.0ms
+  task_sampling_failed: mean=112.9ms, total=112.9ms, count=1, min=112.9ms, max=112.9ms
+  scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=297.9us, total=0.9ms, count=3, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:42:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:42:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:42:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:42:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:42:57 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 23:42:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:42:57 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 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109633m	[env.py: 870]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:42:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25006533 -0.96965299 -0.10963303] yaw=-24.6deg	[env.py: 1019]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.6502241  -0.77070237 -0.10963303] yaw=-96.3deg	[env.py: 1019]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60557032 -0.89042126 -0.10963303] yaw=-96.0deg	[env.py: 1019]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:42:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=111.2ms, total=111.2ms	[env.py: 1075]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -0.970, -0.110)	[env.py: 1079]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.6 deg	[env.py: 1082]
+05/13 23:42:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m	[env.py: 1086]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:42:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:42:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:42:57 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:42:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:42:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:42:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:42:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:42:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:42:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:42:59 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.458s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:42:59 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:00 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:43:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:43:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:01 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 23:43:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179855m	[env.py: 870]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50934542 -0.80907554 -0.17985485] yaw=-68.8deg	[env.py: 1019]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38541865 -1.14294114 -0.17985485] yaw=-53.8deg	[env.py: 1019]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.0ms, total=136.0ms	[env.py: 1075]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.509, -0.809, -0.180)	[env.py: 1079]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg	[env.py: 1082]
+05/13 23:43:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/13 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:02 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:02 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 23:43:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:02 INFO: [Worker 0] Object is not in grasp! 0.00052 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:43:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:43:02 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 23:43:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.046s, found 211 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.717s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.733[m] 89.189[deg]	[grasp_sample.py: 539]
+05/13 23:43:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:43:04 INFO: [Worker 0] Feasibility-checked 211 grasps in 1.560s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:43:04 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:43:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:43:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:43:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:06 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 23:43:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:06 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 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116465m	[env.py: 870]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31566394 -1.11390754 -0.11646451] yaw=-16.6deg	[env.py: 1019]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88138421 -0.68533005 -0.11646451] yaw=-69.2deg	[env.py: 1019]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.8ms, total=184.9ms	[env.py: 1075]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.316, -1.114, -0.116)	[env.py: 1079]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.6 deg	[env.py: 1082]
+05/13 23:43:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:06 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:06 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 23:43:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:08 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.711[m] 87.638[deg]	[grasp_sample.py: 539]
+05/13 23:43:08 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:43:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:10 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 23:43:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:10 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 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160733m	[env.py: 870]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32332536 -1.19910607 -0.16073339] yaw=-37.0deg	[env.py: 1019]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=137.8ms, total=137.8ms	[env.py: 1075]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.323, -1.199, -0.161)	[env.py: 1079]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.0 deg	[env.py: 1082]
+05/13 23:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m	[env.py: 1086]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:11 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:11 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 23:43:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:12 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.609[m] 80.305[deg]	[grasp_sample.py: 539]
+05/13 23:43:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:43:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:43:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:12 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:43:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:43:12 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/13 23:43:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:43:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:43:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:43:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.57s (batch: 3.33s, save: 5.24s)	[pipeline.py: 300]
+05/13 23:43:22 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.98s:
+  episode_total: mean=25.89s, total=77.66s, count=3, min=433.0ms, max=75171.8ms
+  sensor_polling: mean=152.7ms, total=43.67s, count=286, min=130.1ms, max=494.5ms
+  save_trajectories: mean=5.24s, total=5.24s, count=1, min=5241.3ms, max=5241.3ms
+  save_batch_prep: mean=3.33s, total=3.33s, count=1, min=3333.2ms, max=3333.2ms
+  physics_step: mean=9.8ms, total=2.80s, count=286, min=7.9ms, max=15.4ms
+  task_specific_sample: mean=467.2ms, total=1.40s, count=3, min=430.0ms, max=530.6ms
+  task_sampling: mean=488.0ms, total=975.9ms, count=2, min=443.4ms, max=532.5ms
+  task_sampling_failed: mean=433.0ms, total=433.0ms, count=1, min=433.0ms, max=433.0ms
+  scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=255.5us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:43:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:23 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 23:43:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106295m	[env.py: 870]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5680115  -0.84115487 -0.10629508] yaw=-89.7deg	[env.py: 1019]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.2ms, total=250.2ms	[env.py: 1075]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.568, -0.841, -0.106)	[env.py: 1079]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.7 deg	[env.py: 1082]
+05/13 23:43:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 23:43:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:24 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:24 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 23:43:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.344s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:25 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.745[m] 100.288[deg]	[grasp_sample.py: 539]
+05/13 23:43:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:43:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:43:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:43:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:43:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:43:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:43:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 115 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:33 INFO: [Worker 0] Feasibility-checked 115 grasps in 0.317s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:33 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.024[m] 2.924[deg]	[grasp_sample.py: 539]
+05/13 23:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:34 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:43:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:43:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:37 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 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187765m	[env.py: 870]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28395408 -1.11598066 -0.18776473] yaw=-27.1deg	[env.py: 1019]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.18611868 -1.25273907 -0.18776473] yaw=-45.6deg	[env.py: 1019]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:43:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:43:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:43:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:43:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27241294 -0.91909173 -0.18776473] yaw=-33.0deg	[env.py: 1019]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=140.3ms, total=140.3ms	[env.py: 1075]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.284, -1.116, -0.188)	[env.py: 1079]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.1 deg	[env.py: 1082]
+05/13 23:43:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:37 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:43:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:39 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.642s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.649[m] 84.949[deg]	[grasp_sample.py: 539]
+05/13 23:43:39 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:43:41 INFO: [Worker 0] Feasibility-checked 248 grasps in 3.906s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:41 INFO: [Worker 0] Feasible grasp found 411 (originally 104): w/ 0.605[m] 74.299[deg]	[grasp_sample.py: 539]
+05/13 23:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:43:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:42 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 23:43:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113449m	[env.py: 870]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06131856 -1.14866024 -0.11344874] yaw=-27.7deg	[env.py: 1019]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=398.4ms, total=398.4ms	[env.py: 1075]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.061, -1.149, -0.113)	[env.py: 1079]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.7 deg	[env.py: 1082]
+05/13 23:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.063m	[env.py: 1086]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:43 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:43:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:43 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 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113838m	[env.py: 870]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -94.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -85.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60479676 -0.96609724 -0.1138381 ] yaw=-62.8deg	[env.py: 1019]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62570922 -0.84030676 -0.1138381 ] yaw=-93.0deg	[env.py: 1019]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.2ms	[env.py: 1075]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.966, -0.114)	[env.py: 1079]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg	[env.py: 1082]
+05/13 23:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:44 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:44 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 23:43:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:44 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.473s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:43:44 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:43:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.817s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:44 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.630[m] 94.101[deg]	[grasp_sample.py: 539]
+05/13 23:43:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:43:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:43:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:43:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:43:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:43:47 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 23:43:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:43:47 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 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180069m	[env.py: 870]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:43:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77166122 -0.86853337 -0.18006854] yaw=-86.9deg	[env.py: 1019]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.4087965  -1.10786843 -0.18006854] yaw=-39.7deg	[env.py: 1019]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:43:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=158.2ms, total=158.2ms	[env.py: 1075]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.772, -0.869, -0.180)	[env.py: 1079]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.9 deg	[env.py: 1082]
+05/13 23:43:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:43:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:43:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:43:47 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:43:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:43:47 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 23:43:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:43:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:43:48 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.637s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:43:48 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.644[m] 99.549[deg]	[grasp_sample.py: 539]
+05/13 23:43:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:43:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:43:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:43:48 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:43:53 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:43:56 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:44:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:07 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:44:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:44:07 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 23:44:08 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:44:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:44:08 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 23:44:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:44:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:44:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:44:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:44:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.65s (batch: 3.08s, save: 4.57s)	[pipeline.py: 300]
+05/13 23:44:16 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.92s:
+  episode_total: mean=24.79s, total=99.15s, count=4, min=121.0ms, max=65884.7ms
+  sensor_polling: mean=150.7ms, total=63.43s, count=421, min=134.7ms, max=382.5ms
+  save_trajectories: mean=4.57s, total=4.57s, count=1, min=4568.9ms, max=4568.9ms
+  physics_step: mean=9.6ms, total=4.05s, count=421, min=7.4ms, max=16.2ms
+  save_batch_prep: mean=3.08s, total=3.08s, count=1, min=3077.1ms, max=3077.1ms
+  task_specific_sample: mean=255.9ms, total=1.02s, count=4, min=116.7ms, max=344.2ms
+  task_sampling: mean=305.6ms, total=916.7ms, count=3, min=272.0ms, max=346.5ms
+  task_sampling_failed: mean=121.0ms, total=121.0ms, count=1, min=121.0ms, max=121.0ms
+  scene_randomize: mean=1.2ms, total=4.7ms, count=4, min=0.8ms, max=1.7ms
+  mj_forward_sync: mean=259.2us, total=1.0ms, count=4, min=0.2ms, max=0.3ms
+  policy_setup: mean=14.6us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:44:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:44:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:44:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.16s (batch: 4.04s, save: 5.12s)	[pipeline.py: 300]
+05/13 23:44:17 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.67s:
+  episode_total: mean=38.94s, total=77.88s, count=2, min=2008.3ms, max=75869.0ms
+  sensor_polling: mean=161.3ms, total=45.00s, count=279, min=133.6ms, max=428.6ms
+  save_trajectories: mean=5.12s, total=5.12s, count=1, min=5119.1ms, max=5119.1ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4045.0ms, max=4045.0ms
+  physics_step: mean=9.8ms, total=2.74s, count=279, min=7.2ms, max=26.9ms
+  task_sampling: mean=336.9ms, total=673.8ms, count=2, min=304.7ms, max=369.2ms
+  task_specific_sample: mean=332.7ms, total=665.3ms, count=2, min=301.6ms, max=363.7ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=0.9ms, max=3.8ms
+  mj_forward_sync: mean=318.9us, total=0.6ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=33.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:44:18 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:44:18 INFO: [Worker 0] Worker 0 completed house 1: 10/19 successful episodes	[pipeline.py: 1323]
+05/13 23:44:18 INFO: [Worker 0] [PROFILE] House 1 complete: 10/19 successful, 19 episodes, total_time=2060.67s
+  House averages:
+  episode_total: mean=18.13s, total=1305.37s, count=72, min=121.0ms, max=76209.2ms
+  sensor_polling: mean=156.5ms, total=589.33s, count=3766, min=132.4ms, max=580.1ms
+  save_trajectories: mean=4.81s, total=48.14s, count=10, min=4495.0ms, max=5376.8ms
+  physics_step: mean=9.7ms, total=36.37s, count=3766, min=6.2ms, max=26.9ms
+  save_batch_prep: mean=3.29s, total=32.85s, count=10, min=3077.1ms, max=3646.8ms
+  task_specific_sample: mean=288.5ms, total=20.77s, count=72, min=116.7ms, max=591.8ms
+  task_sampling: mean=309.8ms, total=18.59s, count=60, min=206.2ms, max=594.8ms
+  task_sampling_failed: mean=362.3ms, total=4.35s, count=12, min=121.0ms, max=2285.1ms
+  scene_load: mean=1.97s, total=1.97s, count=1, min=1966.6ms, max=1966.6ms
+  scene_env_create: mean=1.06s, total=1.06s, count=1, min=1062.3ms, max=1062.3ms
+  scene_compile: mean=818.1ms, total=818.1ms, count=1, min=818.1ms, max=818.1ms
+  compile_mujoco: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  compile_xml_load: mean=320.6ms, total=320.6ms, count=1, min=320.6ms, max=320.6ms
+  scene_randomize: mean=1.1ms, total=79.5ms, count=72, min=0.7ms, max=1.7ms
+  scene_init: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
+  compile_aux_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_aux_policy_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  scene_asset_install: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms
+  compile_robot_add: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  mj_forward_sync: mean=270.3us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=16.5us, total=1.0ms, count=60, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:44:18 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:44:18 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 19 episodes, total_time=2060.67s
+  Worker averages:
+  episode_total: mean=18.13s, total=1305.37s, count=72, min=121.0ms, max=76209.2ms
+  sensor_polling: mean=156.5ms, total=589.33s, count=3766, min=132.4ms, max=580.1ms
+  save_trajectories: mean=4.81s, total=48.14s, count=10, min=4495.0ms, max=5376.8ms
+  physics_step: mean=9.7ms, total=36.37s, count=3766, min=6.2ms, max=26.9ms
+  save_batch_prep: mean=3.29s, total=32.85s, count=10, min=3077.1ms, max=3646.8ms
+  task_specific_sample: mean=288.5ms, total=20.77s, count=72, min=116.7ms, max=591.8ms
+  task_sampling: mean=309.8ms, total=18.59s, count=60, min=206.2ms, max=594.8ms
+  task_sampling_failed: mean=362.3ms, total=4.35s, count=12, min=121.0ms, max=2285.1ms
+  scene_load: mean=1.97s, total=1.97s, count=1, min=1966.6ms, max=1966.6ms
+  scene_env_create: mean=1.06s, total=1.06s, count=1, min=1062.3ms, max=1062.3ms
+  scene_compile: mean=818.1ms, total=818.1ms, count=1, min=818.1ms, max=818.1ms
+  compile_mujoco: mean=437.0ms, total=437.0ms, count=1, min=437.0ms, max=437.0ms
+  compile_xml_load: mean=320.6ms, total=320.6ms, count=1, min=320.6ms, max=320.6ms
+  scene_randomize: mean=1.1ms, total=79.5ms, count=72, min=0.7ms, max=1.7ms
+  scene_init: mean=57.6ms, total=57.6ms, count=1, min=57.6ms, max=57.6ms
+  compile_aux_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  compile_aux_policy_objects: mean=31.9ms, total=31.9ms, count=1, min=31.9ms, max=31.9ms
+  scene_asset_install: mean=28.2ms, total=28.2ms, count=1, min=28.2ms, max=28.2ms
+  compile_robot_add: mean=20.3ms, total=20.3ms, count=1, min=20.3ms, max=20.3ms
+  mj_forward_sync: mean=270.3us, total=19.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  policy_setup: mean=16.5us, total=1.0ms, count=60, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:44:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:19 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 23:44:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:19 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 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163201m	[env.py: 870]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.8968896  -0.68294538 -0.16320145] yaw=-94.7deg	[env.py: 1019]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=167.4ms, total=167.4ms	[env.py: 1075]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.897, -0.683, -0.163)	[env.py: 1079]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.7 deg	[env.py: 1082]
+05/13 23:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m	[env.py: 1086]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:20 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:20 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 23:44:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:20 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:44:20 INFO: Success count: 10, Total count: 19	[pipeline.py: 1491]
+05/13 23:44:20 INFO: Success rate: 52.63%	[pipeline.py: 1492]
+05/13 23:44:21 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.513s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:44:21 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:44:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:23 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 23:44:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:23 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 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192995m	[env.py: 870]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1599544  -1.38679075 -0.19299545] yaw=-38.9deg	[env.py: 1019]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms	[env.py: 1075]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.387, -0.193)	[env.py: 1079]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg	[env.py: 1082]
+05/13 23:44:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:23 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:44:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:26 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.126s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:44:26 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.609[m] 87.713[deg]	[grasp_sample.py: 539]
+05/13 23:44:26 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:44:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:28 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 23:44:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174952m	[env.py: 870]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51713255 -0.831789   -0.17495154] yaw=-70.9deg	[env.py: 1019]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=133.2ms, total=133.3ms	[env.py: 1075]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.832, -0.175)	[env.py: 1079]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.9 deg	[env.py: 1082]
+05/13 23:44:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:29 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:29 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 23:44:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:29 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:44:31 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.033s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:44:31 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.730[m] 84.763[deg]	[grasp_sample.py: 539]
+05/13 23:44:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:44:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:44:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:32 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:44:42 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:44:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:44:42 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:44:46 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:44:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:44:46 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 23:44:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:44:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:44:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.21s (batch: 3.77s, save: 4.43s)	[pipeline.py: 300]
+05/13 23:44:51 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.70s:
+  episode_total: mean=42.95s, total=85.89s, count=2, min=18119.3ms, max=67770.8ms
+  sensor_polling: mean=150.1ms, total=46.68s, count=311, min=133.0ms, max=472.8ms
+  save_trajectories: mean=4.43s, total=4.43s, count=1, min=4434.7ms, max=4434.7ms
+  save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3771.9ms, max=3771.9ms
+  physics_step: mean=9.7ms, total=3.02s, count=311, min=7.2ms, max=15.0ms
+  task_sampling: mean=352.5ms, total=705.0ms, count=2, min=290.0ms, max=415.0ms
+  task_specific_sample: mean=350.2ms, total=700.3ms, count=2, min=287.6ms, max=412.7ms
+  scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=254.6us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=12.2us, 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 23:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:53 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 23:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:53 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 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155386m	[env.py: 870]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03821194 -1.39932386 -0.15538585] yaw=-2.8deg	[env.py: 1019]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15577611 -1.18350507 -0.15538585] yaw=-14.3deg	[env.py: 1019]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=127.6ms, total=127.6ms	[env.py: 1075]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -1.399, -0.155)	[env.py: 1079]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.8 deg	[env.py: 1082]
+05/13 23:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m	[env.py: 1086]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:53 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:53 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 23:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:44:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:44:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:44:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.50s (batch: 3.79s, save: 4.71s)	[pipeline.py: 300]
+05/13 23:44:54 INFO: [Worker 0] Feasibility-checked 229 grasps in 1.507s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:44:54 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:44:55 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=1.73s:
+  episode_total: mean=24.22s, total=121.10s, count=5, min=373.9ms, max=68435.4ms
+  sensor_polling: mean=153.1ms, total=70.11s, count=458, min=135.5ms, max=372.7ms
+  save_trajectories: mean=4.71s, total=4.71s, count=1, min=4712.9ms, max=4712.9ms
+  physics_step: mean=9.7ms, total=4.44s, count=458, min=7.7ms, max=15.8ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3790.3ms, max=3790.3ms
+  task_specific_sample: mean=416.6ms, total=2.08s, count=5, min=289.7ms, max=594.3ms
+  task_sampling: mean=433.7ms, total=1.73s, count=4, min=292.2ms, max=598.2ms
+  task_sampling_failed: mean=373.9ms, total=373.9ms, count=1, min=373.9ms, max=373.9ms
+  scene_randomize: mean=1.1ms, total=5.7ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=262.3us, total=1.3ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:44:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:44:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:44:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162102m	[env.py: 870]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51456025 -0.88199067 -0.16210226] yaw=-74.0deg	[env.py: 1019]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35115501 -0.98113444 -0.16210226] yaw=-41.6deg	[env.py: 1019]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=94.1ms, total=94.2ms	[env.py: 1075]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.882, -0.162)	[env.py: 1079]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.0 deg	[env.py: 1082]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m	[env.py: 1086]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:57 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:44:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:44:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:44:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:44:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:44:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:44:57 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 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115653m	[env.py: 870]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:44:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56464644 -0.91034975 -0.11565343] yaw=-53.5deg	[env.py: 1019]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:44:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=127.7ms, total=127.8ms	[env.py: 1075]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.910, -0.116)	[env.py: 1079]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg	[env.py: 1082]
+05/13 23:44:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/13 23:44:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:44:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:44:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:44:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:44:58 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:44:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:44:58 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 23:44:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:44:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.048s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:44:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.118s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:01 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.645[m] 80.359[deg]	[grasp_sample.py: 539]
+05/13 23:45:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:01 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.700[m] 100.804[deg]	[grasp_sample.py: 539]
+05/13 23:45:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:01 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:45:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:45:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:04 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 23:45:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:04 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 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122614m	[env.py: 870]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38894539 -1.09841457 -0.1226138 ] yaw=-33.0deg	[env.py: 1019]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=126.9ms, total=126.9ms	[env.py: 1075]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.389, -1.098, -0.123)	[env.py: 1079]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.0 deg	[env.py: 1082]
+05/13 23:45:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:04 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:04 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 23:45:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:07 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.150s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:07 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.644[m] 87.943[deg]	[grasp_sample.py: 539]
+05/13 23:45:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:17 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:45:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:45:26 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 23:45:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:27 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.512s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:27 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.129[m] 11.364[deg]	[grasp_sample.py: 539]
+05/13 23:45:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:31 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:45:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:45:31 INFO: [Worker 0] Preparing episode data: 278 timesteps	[save_utils.py: 278]
+05/13 23:45:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:33 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:45:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:45:37 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 23:45:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:37 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.546s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:37 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.095[m] 14.563[deg]	[grasp_sample.py: 539]
+05/13 23:45:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:45:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:45:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.19s (batch: 4.49s, save: 4.71s)	[pipeline.py: 300]
+05/13 23:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:41 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.93s:
+  episode_total: mean=25.92s, total=77.77s, count=3, min=1992.9ms, max=72587.2ms
+  sensor_polling: mean=152.8ms, total=42.32s, count=277, min=137.9ms, max=360.8ms
+  save_trajectories: mean=4.71s, total=4.71s, count=1, min=4705.8ms, max=4705.8ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.3ms, max=4487.3ms
+  physics_step: mean=9.4ms, total=2.60s, count=277, min=7.3ms, max=39.2ms
+  task_sampling: mean=308.6ms, total=925.8ms, count=3, min=276.4ms, max=355.0ms
+  task_specific_sample: mean=305.8ms, total=917.4ms, count=3, min=274.4ms, max=351.2ms
+  scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=0.8ms, max=2.6ms
+  mj_forward_sync: mean=281.1us, total=0.8ms, count=3, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:45:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:45:43 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 23:45:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:43 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 23:45:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107331m	[env.py: 870]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3651658  -0.90402022 -0.10733074] yaw=-70.7deg	[env.py: 1019]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:43 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.490s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.127[m] 17.469[deg]	[grasp_sample.py: 539]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29090268 -1.2095649  -0.10733074] yaw=-11.7deg	[env.py: 1019]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=125.9ms, total=126.0ms	[env.py: 1075]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -0.904, -0.107)	[env.py: 1079]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg	[env.py: 1082]
+05/13 23:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:44 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:44 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 23:45:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.173s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:46 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.750[m] 86.672[deg]	[grasp_sample.py: 539]
+05/13 23:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:46 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:49 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 23:45:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:49 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 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178225m	[env.py: 870]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01055576 -1.33280849 -0.17822476] yaw=-49.8deg	[env.py: 1019]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=116.1ms, total=116.2ms	[env.py: 1075]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.011, -1.333, -0.178)	[env.py: 1079]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/13 23:45:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:49 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:49 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 23:45:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:45:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:45:50 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:45:50 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:45:50 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=False episode_total=0.51s:
+  episode_total: mean=27.40s, total=54.80s, count=2, min=1897.9ms, max=52899.3ms
+  sensor_polling: mean=149.6ms, total=24.98s, count=167, min=134.0ms, max=418.0ms
+  physics_step: mean=9.1ms, total=1.52s, count=167, min=7.4ms, max=13.5ms
+  task_sampling: mean=252.5ms, total=505.1ms, count=2, min=218.4ms, max=286.7ms
+  task_specific_sample: mean=249.8ms, total=499.6ms, count=2, min=215.3ms, max=284.3ms
+  scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=0.9ms, max=1.4ms
+  mj_forward_sync: mean=238.8us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=16.1us, 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 23:45:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.505s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:45:51 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:45:51 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:45:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:52 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 23:45:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:52 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 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118799m	[env.py: 870]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66525552 -0.9614502  -0.11879936] yaw=-81.0deg	[env.py: 1019]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37814355 -0.93420453 -0.11879936] yaw=-56.5deg	[env.py: 1019]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86337561 -0.80171722 -0.11879936] yaw=-95.6deg	[env.py: 1019]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.7ms	[env.py: 1075]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.961, -0.119)	[env.py: 1079]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.0 deg	[env.py: 1082]
+05/13 23:45:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:52 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:45:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:53 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.668s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.601[m] 94.515[deg]	[grasp_sample.py: 539]
+05/13 23:45:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:45:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178004m	[env.py: 870]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09402924 -1.21079068 -0.17800369] yaw=-50.6deg	[env.py: 1019]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=119.8ms, total=119.8ms	[env.py: 1075]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.094, -1.211, -0.178)	[env.py: 1079]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.6 deg	[env.py: 1082]
+05/13 23:45:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m	[env.py: 1086]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:53 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 23:45:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:53 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:53 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 23:45:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.500s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:45:55 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:45:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:45:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:45:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:45:57 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 23:45:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:45:57 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 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176980m	[env.py: 870]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:45:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 49.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77053303 -0.86793396 -0.17697966] yaw=-88.0deg	[env.py: 1019]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10776115 -1.10027912 -0.17697966] yaw=-8.4deg	[env.py: 1019]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29428352 -0.86368178 -0.17697966] yaw=-26.6deg	[env.py: 1019]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:45:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.5ms, total=84.6ms	[env.py: 1075]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.771, -0.868, -0.177)	[env.py: 1079]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.0 deg	[env.py: 1082]
+05/13 23:45:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:45:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:45:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:45:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:45:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:45:58 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 23:45:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:45:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:45:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:45:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.630[m] 102.826[deg]	[grasp_sample.py: 539]
+05/13 23:45:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:45:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:45:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:04 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:46:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:46:04 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:46:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:46:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:46:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.13s (batch: 4.48s, save: 4.65s)	[pipeline.py: 300]
+05/13 23:46:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:46:14 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.58s:
+  episode_total: mean=37.10s, total=74.19s, count=2, min=4057.1ms, max=70135.5ms
+  sensor_polling: mean=152.3ms, total=40.50s, count=266, min=135.7ms, max=430.6ms
+  save_trajectories: mean=4.65s, total=4.65s, count=1, min=4646.6ms, max=4646.6ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4478.9ms, max=4478.9ms
+  physics_step: mean=9.7ms, total=2.57s, count=266, min=7.4ms, max=13.0ms
+  task_sampling: mean=287.7ms, total=575.3ms, count=2, min=275.2ms, max=300.1ms
+  task_specific_sample: mean=285.1ms, total=570.1ms, count=2, min=272.8ms, max=297.4ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=0.8ms, max=1.6ms
+  mj_forward_sync: mean=251.4us, total=0.5ms, count=2, min=0.2ms, max=0.3ms
+  policy_setup: mean=23.4us, 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 23:46:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:46:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:46:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:46:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:46:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:46:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:46:17 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 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106746m	[env.py: 870]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:46:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52262036 -0.82071132 -0.10674633] yaw=-63.3deg	[env.py: 1019]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.048853   -1.24120571 -0.10674633] yaw=-16.6deg	[env.py: 1019]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.36354159 -1.01778248 -0.10674633] yaw=-54.2deg	[env.py: 1019]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:46:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.5ms, total=143.5ms	[env.py: 1075]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.523, -0.821, -0.107)	[env.py: 1079]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.3 deg	[env.py: 1082]
+05/13 23:46:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:46:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:46:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:46:17 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:46:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:46:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:46:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:46:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:46:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.736s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:46:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.737[m] 90.037[deg]	[grasp_sample.py: 539]
+05/13 23:46:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:46:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:46:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:46:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:34 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:46:42 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:46:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:46:47 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:46:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:46:47 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 23:46:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:49 INFO: [Worker 0] Object is not in grasp! 0.00131 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:46:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:46:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:46:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.065s, found 93 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:46:51 INFO: [Worker 0] Feasibility-checked 93 grasps in 1.605s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:46:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.033[m] 0.538[deg]	[grasp_sample.py: 539]
+05/13 23:46:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:46:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:46:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:46:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:46:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.38s (batch: 3.05s, save: 4.33s)	[pipeline.py: 300]
+05/13 23:46:54 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:46:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:46:54 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 23:46:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:46:55 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.32s:
+  episode_total: mean=63.11s, total=63.11s, count=1, min=63111.3ms, max=63111.3ms
+  sensor_polling: mean=145.8ms, total=36.74s, count=252, min=130.9ms, max=448.0ms
+  save_trajectories: mean=4.33s, total=4.33s, count=1, min=4334.2ms, max=4334.2ms
+  save_batch_prep: mean=3.05s, total=3.05s, count=1, min=3050.0ms, max=3050.0ms
+  physics_step: mean=9.4ms, total=2.38s, count=252, min=7.3ms, max=14.2ms
+  task_sampling: mean=324.7ms, total=324.7ms, count=1, min=324.7ms, max=324.7ms
+  task_specific_sample: mean=322.9ms, total=322.9ms, count=1, min=322.9ms, max=322.9ms
+  scene_randomize: mean=780.0us, total=0.8ms, count=1, min=0.8ms, max=0.8ms
+  mj_forward_sync: mean=231.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=13.2us, 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 23:46:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:46:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:46:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:46:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:46:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:46:56 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 23:46:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:46:56 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 23:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111360m	[env.py: 870]
+05/13 23:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:46:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26023861 -0.89712048 -0.11136032] yaw=-63.7deg	[env.py: 1019]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00680027 -1.19038882 -0.11136032] yaw=-44.0deg	[env.py: 1019]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64563868 -0.7698333  -0.11136032] yaw=-91.3deg	[env.py: 1019]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:46:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.5ms, total=185.6ms	[env.py: 1075]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.897, -0.111)	[env.py: 1079]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg	[env.py: 1082]
+05/13 23:46:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.082m	[env.py: 1086]
+05/13 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:46:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:46:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:46:57 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:46:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:46:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.573s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:46:59 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:47:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:47:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:01 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 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119692m	[env.py: 870]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55008486 -0.75759469 -0.11969176] yaw=-85.8deg	[env.py: 1019]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.87155141 -0.90552111 -0.11969176] yaw=-63.8deg	[env.py: 1019]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.86654457 -0.87695154 -0.11969176] yaw=-107.5deg	[env.py: 1019]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.6ms	[env.py: 1075]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.758, -0.120)	[env.py: 1079]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.8 deg	[env.py: 1082]
+05/13 23:47:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:01 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:01 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 23:47:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:03 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.478s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:47:03 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:47:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:47:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:47:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.72s (batch: 4.17s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:47:04 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.06s:
+  episode_total: mean=18.40s, total=73.59s, count=4, min=1844.6ms, max=66816.9ms
+  sensor_polling: mean=151.1ms, total=39.45s, count=261, min=136.9ms, max=387.4ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4558.1ms, max=4558.1ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4165.3ms, max=4165.3ms
+  physics_step: mean=9.3ms, total=2.42s, count=261, min=7.7ms, max=12.5ms
+  task_sampling: mean=265.9ms, total=1.06s, count=4, min=239.0ms, max=300.8ms
+  task_specific_sample: mean=263.3ms, total=1.05s, count=4, min=236.3ms, max=297.9ms
+  scene_randomize: mean=1.1ms, total=4.6ms, count=4, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=277.6us, total=1.1ms, count=4, min=0.2ms, max=0.4ms
+  policy_setup: mean=19.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:47:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:05 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 23:47:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:05 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 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170672m	[env.py: 870]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=410.7ms, total=410.7ms	[env.py: 1105]
+05/13 23:47:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:47:05 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 23:47:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:06 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 23:47:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168664m	[env.py: 870]
+05/13 23:47:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:47:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:07 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 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111336m	[env.py: 870]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -0.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0725027  -1.11269628 -0.11133647] yaw=-6.6deg	[env.py: 1019]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46737467 -0.80181864 -0.11133647] yaw=-81.3deg	[env.py: 1019]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.25463875 -1.2490647  -0.11133647] yaw=-8.2deg	[env.py: 1019]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.0ms, total=222.0ms	[env.py: 1075]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.073, -1.113, -0.111)	[env.py: 1079]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.6 deg	[env.py: 1082]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.77754995 -0.78287288 -0.16866352] yaw=-81.4deg	[env.py: 1019]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:07 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:47:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=572.9ms, total=572.9ms	[env.py: 1075]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.778, -0.783, -0.169)	[env.py: 1079]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.4 deg	[env.py: 1082]
+05/13 23:47:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 23:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.044s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:07 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:47:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:09 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.516s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:47:09 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:47:09 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.310s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:47:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.683[m] 100.602[deg]	[grasp_sample.py: 539]
+05/13 23:47:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:47:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:47:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:47:10 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:47:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:11 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 23:47:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173917m	[env.py: 870]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64059898 -0.71154605 -0.17391723] yaw=-54.7deg	[env.py: 1019]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.8ms, total=142.8ms	[env.py: 1075]
+05/13 23:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.641, -0.712, -0.174)	[env.py: 1079]
+05/13 23:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.7 deg	[env.py: 1082]
+05/13 23:47:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 23:47:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:12 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:12 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 23:47:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.067s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.613s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:47:13 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:47:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:47:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:16 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 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119426m	[env.py: 870]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.89072287 -0.82577724 -0.11942609] yaw=-85.4deg	[env.py: 1019]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 13.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41519952 -1.08671742 -0.11942609] yaw=-69.8deg	[env.py: 1019]
+05/13 23:47:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.73365025 -0.73904728 -0.11942609] yaw=-54.0deg	[env.py: 1019]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=504.8ms, total=504.8ms	[env.py: 1075]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.891, -0.826, -0.119)	[env.py: 1079]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.4 deg	[env.py: 1082]
+05/13 23:47:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m	[env.py: 1086]
+05/13 23:47:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:17 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:17 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 23:47:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.879s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:47:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.670[m] 91.172[deg]	[grasp_sample.py: 539]
+05/13 23:47:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:47:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:47:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:47:24 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:47:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:47:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:47:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:47:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:47:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:47:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 10.23s (batch: 4.93s, save: 5.30s)	[pipeline.py: 300]
+05/13 23:47:35 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:35 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.32s:
+  episode_total: mean=78.62s, total=78.62s, count=1, min=78616.8ms, max=78616.8ms
+  sensor_polling: mean=150.0ms, total=45.01s, count=300, min=134.3ms, max=400.4ms
+  save_trajectories: mean=5.30s, total=5.30s, count=1, min=5299.0ms, max=5299.0ms
+  save_batch_prep: mean=4.93s, total=4.93s, count=1, min=4930.9ms, max=4930.9ms
+  physics_step: mean=9.5ms, total=2.85s, count=300, min=7.7ms, max=16.4ms
+  task_sampling: mean=324.7ms, total=324.7ms, count=1, min=324.7ms, max=324.7ms
+  task_specific_sample: mean=322.1ms, total=322.1ms, count=1, min=322.1ms, max=322.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=239.7us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=27.4us, 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 23:47:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:47:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:47:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:47:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:47:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:47:38 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 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169475m	[env.py: 870]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:47:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24126074 -1.10250805 -0.16947526] yaw=-62.8deg	[env.py: 1019]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15367534 -1.19691681 -0.16947526] yaw=-60.4deg	[env.py: 1019]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:47:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=136.4ms, total=136.4ms	[env.py: 1075]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.103, -0.169)	[env.py: 1079]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg	[env.py: 1082]
+05/13 23:47:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m	[env.py: 1086]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:47:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:47:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:47:38 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:47:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:47:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:47:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:47:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:47:41 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:47:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.692[m] 93.524[deg]	[grasp_sample.py: 539]
+05/13 23:47:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:47:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:47:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:41 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 23:47:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:47:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:47:54 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:48:02 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:48:03 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:48:07 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:48:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:48:07 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 23:48:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:48:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:48:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.99s (batch: 4.31s, save: 4.68s)	[pipeline.py: 300]
+05/13 23:48:17 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:48:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:48:17 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 23:48:17 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.76s:
+  episode_total: mean=70.25s, total=70.25s, count=1, min=70252.6ms, max=70252.6ms
+  sensor_polling: mean=150.2ms, total=40.85s, count=272, min=134.1ms, max=387.2ms
+  save_trajectories: mean=4.68s, total=4.68s, count=1, min=4682.0ms, max=4682.0ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4309.6ms, max=4309.6ms
+  physics_step: mean=9.4ms, total=2.57s, count=272, min=7.5ms, max=13.2ms
+  task_sampling: mean=758.9ms, total=758.9ms, count=1, min=758.9ms, max=758.9ms
+  task_specific_sample: mean=755.9ms, total=755.9ms, count=1, min=755.9ms, max=755.9ms
+  scene_randomize: mean=1.8ms, total=1.8ms, count=1, min=1.8ms, max=1.8ms
+  mj_forward_sync: mean=287.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.6us, 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 23:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:48:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:48:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:48:19 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 23:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:48:19 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 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145166m	[env.py: 870]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83167206 -0.75561557 -0.14516568] yaw=-86.8deg	[env.py: 1019]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6151664  -0.6946535  -0.14516568] yaw=-67.7deg	[env.py: 1019]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=179.6ms, total=179.6ms	[env.py: 1075]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.832, -0.756, -0.145)	[env.py: 1079]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.8 deg	[env.py: 1082]
+05/13 23:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:48:19 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:48:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:48:20 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 23:48:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:48:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:48:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:48:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.94s (batch: 3.18s, save: 4.76s)	[pipeline.py: 300]
+05/13 23:48:25 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:48:25 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=2.04s:
+  episode_total: mean=12.90s, total=77.40s, count=6, min=420.5ms, max=68992.4ms
+  sensor_polling: mean=145.6ms, total=39.31s, count=270, min=133.7ms, max=368.6ms
+  save_trajectories: mean=4.76s, total=4.76s, count=1, min=4759.6ms, max=4759.6ms
+  save_batch_prep: mean=3.18s, total=3.18s, count=1, min=3183.5ms, max=3183.5ms
+  physics_step: mean=9.4ms, total=2.55s, count=270, min=8.4ms, max=18.5ms
+  task_specific_sample: mean=407.4ms, total=2.44s, count=6, min=275.5ms, max=658.8ms
+  task_sampling: mean=408.7ms, total=2.04s, count=5, min=278.1ms, max=661.7ms
+  task_sampling_failed: mean=420.5ms, total=420.5ms, count=1, min=420.5ms, max=420.5ms
+  scene_randomize: mean=1.0ms, total=6.1ms, count=6, min=0.8ms, max=1.4ms
+  mj_forward_sync: mean=250.1us, total=1.5ms, count=6, min=0.2ms, max=0.3ms
+  policy_setup: mean=15.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:48:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:48:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:48:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:48:27 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 23:48:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:48:27 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 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142714m	[env.py: 870]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:48:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32602552 -0.98259015 -0.1427141 ] yaw=-28.1deg	[env.py: 1019]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:48:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.2ms, total=146.2ms	[env.py: 1075]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.326, -0.983, -0.143)	[env.py: 1079]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.1 deg	[env.py: 1082]
+05/13 23:48:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m	[env.py: 1086]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:48:27 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.729[m] 98.913[deg]	[grasp_sample.py: 539]
+05/13 23:48:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:48:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:48:27 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:48:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:48:27 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 23:48:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:48:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:48:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.534s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:48:30 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.773[m] 86.825[deg]	[grasp_sample.py: 539]
+05/13 23:48:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:48:30 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:48:30 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:39 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:48:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:48:39 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 23:48:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:48:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:48:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.46s (batch: 4.61s, save: 4.85s)	[pipeline.py: 300]
+05/13 23:48:49 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.31s:
+  episode_total: mean=71.37s, total=71.37s, count=1, min=71365.1ms, max=71365.1ms
+  sensor_polling: mean=151.2ms, total=40.53s, count=268, min=130.7ms, max=421.1ms
+  save_trajectories: mean=4.85s, total=4.85s, count=1, min=4848.5ms, max=4848.5ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4608.4ms, max=4608.4ms
+  physics_step: mean=9.5ms, total=2.55s, count=268, min=7.7ms, max=17.3ms
+  task_sampling: mean=307.5ms, total=307.5ms, count=1, min=307.5ms, max=307.5ms
+  task_specific_sample: mean=305.0ms, total=305.0ms, count=1, min=305.0ms, max=305.0ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=240.8us, total=0.2ms, count=1, min=0.2ms, max=0.2ms
+  policy_setup: mean=23.8us, 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 23:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:48:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:48:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:48:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:48:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:48:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:48:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:48:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:48:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101195m	[env.py: 870]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:48:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=127.3ms, total=127.3ms	[env.py: 1105]
+05/13 23:48:52 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:48:52 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 23:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:48:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:48:53 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 23:48:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:48:54 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:48:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:48:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:48:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:48:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:48:55 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 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189252m	[env.py: 870]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:48:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -121.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18422412 -0.94794992 -0.18925168] yaw=-35.4deg	[env.py: 1019]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.75312952 -0.68875545 -0.18925168] yaw=-105.0deg	[env.py: 1019]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56860532 -0.95643816 -0.18925168] yaw=-42.5deg	[env.py: 1019]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:48:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.5ms, total=132.5ms	[env.py: 1075]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -0.948, -0.189)	[env.py: 1079]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg	[env.py: 1082]
+05/13 23:48:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:55 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.837s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:48:55 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.229[m] 5.597[deg]	[grasp_sample.py: 539]
+05/13 23:48:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:48:55 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:48:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:48:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:48:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:48:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:48:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:48:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:48:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:48:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 228 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:48:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.638s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:48:57 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:48:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:48:58 INFO: [Worker 0] Feasibility-checked 228 grasps in 2.180s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:48:58 INFO: [Worker 0] Feasible grasp found 34 (originally 34): w/ 0.577[m] 27.755[deg]	[grasp_sample.py: 539]
+05/13 23:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:48:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:48:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:48:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:48:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:48:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:48:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:48:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:48:59 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 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133431m	[env.py: 870]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:48:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33575791 -0.92469167 -0.13343138] yaw=-27.3deg	[env.py: 1019]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75929611 -0.66672026 -0.13343138] yaw=-60.2deg	[env.py: 1019]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.49588147 -0.97413093 -0.13343138] yaw=-46.6deg	[env.py: 1019]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:48:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=73.2ms, total=73.2ms	[env.py: 1075]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.336, -0.925, -0.133)	[env.py: 1079]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.3 deg	[env.py: 1082]
+05/13 23:48:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m	[env.py: 1086]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:48:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:48:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:48:59 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:48:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:48:59 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 23:48:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:48:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:03 INFO: [Worker 0] Feasibility-checked 235 grasps in 3.659s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:03 INFO: [Worker 0] Feasible grasp found 103 (originally 103): w/ 0.774[m] 80.340[deg]	[grasp_sample.py: 539]
+05/13 23:49:04 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:49:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:06 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 23:49:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:06 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 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123304m	[env.py: 870]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30821542 -1.20925355 -0.12330422] yaw=-17.6deg	[env.py: 1019]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15634553 -1.35077124 -0.12330422] yaw=-13.8deg	[env.py: 1019]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=128.6ms, total=128.6ms	[env.py: 1075]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.209, -0.123)	[env.py: 1079]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg	[env.py: 1082]
+05/13 23:49:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:06 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:09 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.147s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:09 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.652[m] 88.164[deg]	[grasp_sample.py: 539]
+05/13 23:49:09 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:49:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:49:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:12 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 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139738m	[env.py: 870]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85299894 -0.8764311  -0.13973761] yaw=-56.9deg	[env.py: 1019]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.04704554 -1.18938036 -0.13973761] yaw=-43.2deg	[env.py: 1019]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -82.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21423484 -1.37076845 -0.13973761] yaw=-41.3deg	[env.py: 1019]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.9ms, total=154.0ms	[env.py: 1075]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.853, -0.876, -0.140)	[env.py: 1079]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.9 deg	[env.py: 1082]
+05/13 23:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:12 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.720[m] 90.387[deg]	[grasp_sample.py: 539]
+05/13 23:49:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:49:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:17 INFO: [Worker 0] Feasibility-checked 232 grasps in 1.558s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:17 INFO: [Worker 0] Feasible grasp found 22 (originally 22): w/ 0.360[m] 18.000[deg]	[grasp_sample.py: 539]
+05/13 23:49:17 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:49:17 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:49:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:49:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:20 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 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132870m	[env.py: 870]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48033899 -0.88869982 -0.13286977] yaw=-78.0deg	[env.py: 1019]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63924322 -0.79429733 -0.13286977] yaw=-99.3deg	[env.py: 1019]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.8ms, total=235.8ms	[env.py: 1075]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.480, -0.889, -0.133)	[env.py: 1079]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.0 deg	[env.py: 1082]
+05/13 23:49:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:20 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:20 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 23:49:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.175s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:24 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.751[m] 100.857[deg]	[grasp_sample.py: 539]
+05/13 23:49:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:49:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:26 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:49:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:49:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:26 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:26 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.548[m] 62.879[deg]	[grasp_sample.py: 539]
+05/13 23:49:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:31 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:49:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:49:31 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/13 23:49:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:49:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:49:32 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 23:49:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:33 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.792s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.548[m] 62.878[deg]	[grasp_sample.py: 539]
+05/13 23:49:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:49:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:49:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:39 INFO: [Worker 0] Feasibility-checked 244 grasps in 0.774s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.548[m] 62.878[deg]	[grasp_sample.py: 539]
+05/13 23:49:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:49:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:49:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.24s (batch: 3.12s, save: 5.12s)	[pipeline.py: 300]
+05/13 23:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:40 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.32s:
+  episode_total: mean=73.39s, total=73.39s, count=1, min=73390.7ms, max=73390.7ms
+  sensor_polling: mean=147.2ms, total=43.12s, count=293, min=130.6ms, max=373.4ms
+  save_trajectories: mean=5.12s, total=5.12s, count=1, min=5123.6ms, max=5123.6ms
+  save_batch_prep: mean=3.12s, total=3.12s, count=1, min=3121.1ms, max=3121.1ms
+  physics_step: mean=9.5ms, total=2.79s, count=293, min=8.4ms, max=45.1ms
+  task_sampling: mean=322.5ms, total=322.5ms, count=1, min=322.5ms, max=322.5ms
+  task_specific_sample: mean=319.4ms, total=319.4ms, count=1, min=319.4ms, max=319.4ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=865.8us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=13.6us, 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 23:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:42 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 23:49:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:42 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 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120883m	[env.py: 870]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91729371 -0.65006008 -0.12088283] yaw=-80.3deg	[env.py: 1019]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19414043 -1.15952517 -0.12088283] yaw=-40.6deg	[env.py: 1019]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57071714 -0.70010403 -0.12088283] yaw=-55.8deg	[env.py: 1019]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=71.8ms, total=71.8ms	[env.py: 1075]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.917, -0.650, -0.121)	[env.py: 1079]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.3 deg	[env.py: 1082]
+05/13 23:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m	[env.py: 1086]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:42 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:49:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:44 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.484s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:49:44 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:49:44 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:49:44 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=False episode_total=1.07s:
+  episode_total: mean=8.36s, total=41.79s, count=5, min=135.6ms, max=32138.1ms
+  sensor_polling: mean=148.3ms, total=11.86s, count=80, min=134.2ms, max=440.1ms
+  task_specific_sample: mean=237.7ms, total=1.19s, count=5, min=131.3ms, max=298.9ms
+  task_sampling: mean=266.7ms, total=1.07s, count=4, min=188.1ms, max=301.6ms
+  physics_step: mean=8.2ms, total=655.0ms, count=80, min=6.2ms, max=16.8ms
+  task_sampling_failed: mean=135.6ms, total=135.6ms, count=1, min=135.6ms, max=135.6ms
+  scene_randomize: mean=1.1ms, total=5.3ms, count=5, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=245.6us, total=1.2ms, count=5, min=0.2ms, max=0.3ms
+  policy_setup: mean=25.3us, 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 23:49:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:45 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 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120724m	[env.py: 870]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.80470215 -0.84590779 -0.12072399] yaw=-62.0deg	[env.py: 1019]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5440037  -0.81911198 -0.12072399] yaw=-57.5deg	[env.py: 1019]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25336732 -1.00310584 -0.12072399] yaw=-65.7deg	[env.py: 1019]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=80.2ms, total=80.3ms	[env.py: 1075]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.805, -0.846, -0.121)	[env.py: 1079]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg	[env.py: 1082]
+05/13 23:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:45 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:45 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 23:49:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:49:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:49:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:49:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:49:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:49:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:49:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:49:46 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 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194977m	[env.py: 870]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:49:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.82614189 -0.71686977 -0.19497726] yaw=-79.2deg	[env.py: 1019]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:49:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.950s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:46 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.677[m] 89.345[deg]	[grasp_sample.py: 539]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50206412 -1.04378439 -0.19497726] yaw=-75.4deg	[env.py: 1019]
+05/13 23:49:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:49:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.91502666 -0.93176022 -0.19497726] yaw=-99.1deg	[env.py: 1019]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:49:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=342.9ms, total=342.9ms	[env.py: 1075]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.826, -0.717, -0.195)	[env.py: 1079]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.2 deg	[env.py: 1082]
+05/13 23:49:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m	[env.py: 1086]
+05/13 23:49:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:49:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:49:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:49:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:49:47 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:49:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:49:47 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 23:49:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:49:47 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 23:49:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:49:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.038s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:49:50 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.698[m] 91.121[deg]	[grasp_sample.py: 539]
+05/13 23:49:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:49:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:49:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:49:50 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 23:49:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:49:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:50:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:50:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:12 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:50:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:50:14 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 23:50:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.045s, found 179 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:50:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:50:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:50:18 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 23:50:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:20 INFO: [Worker 0] Feasibility-checked 239 grasps in 2.072s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:50:20 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.059[m] 2.348[deg]	[grasp_sample.py: 539]
+05/13 23:50:20 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:50:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:23 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 23:50:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:23 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 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167201m	[env.py: 870]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04952294 -1.23362869 -0.16720056] yaw=-47.3deg	[env.py: 1019]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51262427 -0.77442415 -0.16720056] yaw=-72.1deg	[env.py: 1019]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:50:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=120.6ms, total=120.6ms	[env.py: 1075]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.050, -1.234, -0.167)	[env.py: 1079]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/13 23:50:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:50:23 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:50:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:50:23 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 23:50:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:25 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.556s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:50:25 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:50:27 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:50:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:50:27 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/13 23:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:27 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 23:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164101m	[env.py: 870]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=88.5ms, total=88.5ms	[env.py: 1105]
+05/13 23:50:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:50:27 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:50:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:29 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 23:50:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:29 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 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189231m	[env.py: 870]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.81641481 -0.70158737 -0.18923055] yaw=-70.5deg	[env.py: 1019]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:50:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=87.5ms, total=87.5ms	[env.py: 1075]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.816, -0.702, -0.189)	[env.py: 1079]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg	[env.py: 1082]
+05/13 23:50:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:50:29 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:50:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:50:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:50:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:50:32 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.775[m] 93.737[deg]	[grasp_sample.py: 539]
+05/13 23:50:32 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:34 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 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103553m	[env.py: 870]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64892644 -0.84409054 -0.10355333] yaw=-69.7deg	[env.py: 1019]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=84.6ms, total=84.6ms	[env.py: 1075]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.844, -0.104)	[env.py: 1079]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.7 deg	[env.py: 1082]
+05/13 23:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.937m	[env.py: 1086]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:50:34 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:50:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:50:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:50:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:50:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:50:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.00s (batch: 4.26s, save: 4.74s)	[pipeline.py: 300]
+05/13 23:50:37 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.77s:
+  episode_total: mean=67.51s, total=135.01s, count=2, min=57880.5ms, max=77131.8ms
+  sensor_polling: mean=144.5ms, total=75.41s, count=522, min=129.8ms, max=444.4ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4738.9ms, max=4738.9ms
+  physics_step: mean=9.0ms, total=4.68s, count=522, min=7.7ms, max=13.0ms
+  save_batch_prep: mean=4.26s, total=4.26s, count=1, min=4258.7ms, max=4258.7ms
+  task_sampling: mean=386.9ms, total=773.8ms, count=2, min=361.5ms, max=412.3ms
+  task_specific_sample: mean=384.0ms, total=768.0ms, count=2, min=358.4ms, max=409.6ms
+  scene_randomize: mean=1.3ms, total=2.6ms, count=2, min=0.9ms, max=1.7ms
+  mj_forward_sync: mean=240.4us, total=0.5ms, count=2, min=0.2ms, max=0.2ms
+  policy_setup: mean=31.2us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:50:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:50:37 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.706[m] 86.456[deg]	[grasp_sample.py: 539]
+05/13 23:50:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:50:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:50:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:50:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:50:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:50:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:39 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 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137863m	[env.py: 870]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1452484  -1.33075058 -0.13786338] yaw=-2.9deg	[env.py: 1019]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72036334 -0.66461469 -0.13786338] yaw=-77.9deg	[env.py: 1019]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31440074 -1.22724746 -0.13786338] yaw=-43.2deg	[env.py: 1019]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:50:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.6ms, total=78.6ms	[env.py: 1075]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.145, -1.331, -0.138)	[env.py: 1079]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.9 deg	[env.py: 1082]
+05/13 23:50:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:50:40 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:50:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:50:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:50:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.042s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:49 INFO: [Worker 0] Feasibility-checked 231 grasps in 9.266s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:50:49 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.728[m] 90.625[deg]	[grasp_sample.py: 539]
+05/13 23:50:49 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:50:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:50:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:50:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:50:52 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 23:50:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:50:52 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 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199639m	[env.py: 870]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:50:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91889785 -0.71566672 -0.19963935] yaw=-80.0deg	[env.py: 1019]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85667531 -0.70303714 -0.19963935] yaw=-101.0deg	[env.py: 1019]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:50:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=78.8ms, total=78.8ms	[env.py: 1075]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.919, -0.716, -0.200)	[env.py: 1079]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.0 deg	[env.py: 1082]
+05/13 23:50:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:50:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:50:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:50:52 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:50:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:50:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:50:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:50:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:50:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.140s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:50:59 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.753[m] 99.599[deg]	[grasp_sample.py: 539]
+05/13 23:50:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:50:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:50:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:51:00 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:51:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:51:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:51:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 119 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:09 INFO: [Worker 0] Feasibility-checked 119 grasps in 1.540s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:09 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.033[m] 2.976[deg]	[grasp_sample.py: 539]
+05/13 23:51:09 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:51:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:51:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:11 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 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172732m	[env.py: 870]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62383908 -0.68281294 -0.17273216] yaw=-60.0deg	[env.py: 1019]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.76157941 -0.79934218 -0.17273216] yaw=-50.5deg	[env.py: 1019]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.66429519 -0.91662161 -0.17273216] yaw=-84.9deg	[env.py: 1019]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=47.6ms, total=47.6ms	[env.py: 1075]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.683, -0.173)	[env.py: 1079]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg	[env.py: 1082]
+05/13 23:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:51:11 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:51:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:51:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:51:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.502s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:51:13 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:51:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:51:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:16 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 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188615m	[env.py: 870]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=588.8ms, total=588.9ms	[env.py: 1105]
+05/13 23:51:16 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:51:16 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 23:51:19 INFO: [Worker 0] Feasibility-checked 179 grasps in 65.183s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:19 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:51:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:51:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112178m	[env.py: 870]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.82751444 -0.84749005 -0.11217826] yaw=-77.4deg	[env.py: 1019]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:51:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.6ms, total=171.6ms	[env.py: 1075]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.828, -0.847, -0.112)	[env.py: 1079]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.4 deg	[env.py: 1082]
+05/13 23:51:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m	[env.py: 1086]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:51:20 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:51:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:51:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:51:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:21 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 23:51:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189301m	[env.py: 870]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.41478931 -0.79793868 -0.18930081] yaw=-63.4deg	[env.py: 1019]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:51:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.5ms, total=121.6ms	[env.py: 1075]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -0.798, -0.189)	[env.py: 1079]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg	[env.py: 1082]
+05/13 23:51:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:51:21 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:51:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:51:21 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 23:51:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.200s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.686[m] 78.678[deg]	[grasp_sample.py: 539]
+05/13 23:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:51:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:51:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:51:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.579s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:51:23 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:51:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:26 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 23:51:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:26 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 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148816m	[env.py: 870]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.74795941 -0.82483555 -0.14881622] yaw=-59.1deg	[env.py: 1019]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -58.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22079081 -1.16820288 -0.14881622] yaw=-12.8deg	[env.py: 1019]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:51:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.0ms, total=148.1ms	[env.py: 1075]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.748, -0.825, -0.149)	[env.py: 1079]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg	[env.py: 1082]
+05/13 23:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:51:26 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:51:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:51:26 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 23:51:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.041s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.122s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:27 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.698[m] 83.204[deg]	[grasp_sample.py: 539]
+05/13 23:51:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:51:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:51:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:51:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:51:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:51:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:51:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:29 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:29 INFO: [Worker 0] Feasible grasp found 97 (originally 97): w/ 0.058[m] 3.090[deg]	[grasp_sample.py: 539]
+05/13 23:51:29 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:51:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:51:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:51:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:51:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:51:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:51:32 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 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162305m	[env.py: 870]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:51:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58311382 -0.96444404 -0.16230513] yaw=-56.7deg	[env.py: 1019]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4503762  -0.98146857 -0.16230513] yaw=-58.4deg	[env.py: 1019]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19543223 -1.34857965 -0.16230513] yaw=-30.0deg	[env.py: 1019]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:51:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=76.0ms, total=76.0ms	[env.py: 1075]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.583, -0.964, -0.162)	[env.py: 1079]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 23:51:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:51:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:51:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:51:32 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:51:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:51:32 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 23:51:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.603s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:51:33 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.612[m] 99.508[deg]	[grasp_sample.py: 539]
+05/13 23:51:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:51:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:51:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:51:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:50 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:51:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:51:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:51:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:51:56 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 23:51:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:51:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.051s, found 128 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:51:56 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:51:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:02 INFO: [Worker 0] Feasibility-checked 128 grasps in 6.108s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:52:02 INFO: [Worker 0] Feasible grasp found 285 (originally 285): w/ 0.043[m] 14.679[deg]	[grasp_sample.py: 539]
+05/13 23:52:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:52:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:52:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:07 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:52:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:52:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:52:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:52:07 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 23:52:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:52:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.049s, found 128 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:52:15 INFO: [Worker 0] Feasibility-checked 128 grasps in 7.322s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:52:15 INFO: [Worker 0] Feasible grasp found 285 (originally 285): w/ 0.043[m] 14.679[deg]	[grasp_sample.py: 539]
+05/13 23:52:15 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:52:16 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:52:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:17 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 23:52:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130646m	[env.py: 870]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28109545 -0.9344744  -0.13064617] yaw=-22.6deg	[env.py: 1019]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:52:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=131.0ms, total=131.1ms	[env.py: 1075]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.934, -0.131)	[env.py: 1079]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.6 deg	[env.py: 1082]
+05/13 23:52:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:52:17 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:52:17 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 23:52:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.063s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:52:19 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.581s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:52:19 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:52:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:20 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 23:52:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165309m	[env.py: 870]
+05/13 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21213901 -1.38465497 -0.16530941] yaw=-28.3deg	[env.py: 1019]
+05/13 23:52:21 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:52:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:52:21 INFO: [Worker 0] Preparing episode data: 273 timesteps	[save_utils.py: 278]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.16893319 -1.19650324 -0.16530941] yaw=-48.9deg	[env.py: 1019]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29826774 -1.17759504 -0.16530941] yaw=-64.2deg	[env.py: 1019]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:52:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=108.4ms, total=108.4ms	[env.py: 1075]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.385, -0.165)	[env.py: 1079]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg	[env.py: 1082]
+05/13 23:52:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/13 23:52:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:52:21 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:52:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:52:21 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 23:52:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:52:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:52:22 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:52:22 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.605[m] 75.946[deg]	[grasp_sample.py: 539]
+05/13 23:52:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:52:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:52:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:29 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:52:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:52:29 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 23:52:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:52:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:52:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.43s (batch: 4.52s, save: 4.91s)	[pipeline.py: 300]
+05/13 23:52:31 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=1.77s:
+  episode_total: mean=18.58s, total=148.65s, count=8, min=96.1ms, max=71675.1ms
+  sensor_polling: mean=148.9ms, total=84.27s, count=566, min=131.9ms, max=745.1ms
+  physics_step: mean=9.3ms, total=5.24s, count=566, min=7.4ms, max=15.0ms
+  save_trajectories: mean=4.91s, total=4.91s, count=1, min=4906.1ms, max=4906.1ms
+  save_batch_prep: mean=4.52s, total=4.52s, count=1, min=4520.2ms, max=4520.2ms
+  task_specific_sample: mean=304.3ms, total=2.43s, count=8, min=91.9ms, max=592.0ms
+  task_sampling: mean=294.2ms, total=1.77s, count=6, min=196.0ms, max=512.4ms
+  task_sampling_failed: mean=345.8ms, total=691.6ms, count=2, min=96.1ms, max=595.5ms
+  scene_randomize: mean=1.1ms, total=8.6ms, count=8, min=0.7ms, max=1.9ms
+  mj_forward_sync: mean=266.2us, total=2.1ms, count=8, min=0.2ms, max=0.3ms
+  policy_setup: mean=19.4us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:34 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 23:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:34 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 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181734m	[env.py: 870]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=131.3ms, total=131.3ms	[env.py: 1105]
+05/13 23:52:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:52:34 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:52:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:37 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 23:52:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:37 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 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184699m	[env.py: 870]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38728662 -1.0525985  -0.18469909] yaw=-73.2deg	[env.py: 1019]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.80333351 -0.75324426 -0.18469909] yaw=-70.5deg	[env.py: 1019]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:52:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=130.1ms, total=130.1ms	[env.py: 1075]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.387, -1.053, -0.185)	[env.py: 1079]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg	[env.py: 1082]
+05/13 23:52:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.881m	[env.py: 1086]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:52:37 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:52:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:52:37 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 23:52:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:52:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:52:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:52:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:52:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.61s (batch: 4.13s, save: 4.48s)	[pipeline.py: 300]
+05/13 23:52:39 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.60s:
+  episode_total: mean=38.13s, total=114.40s, count=3, min=10085.1ms, max=66977.1ms
+  sensor_polling: mean=147.0ms, total=60.41s, count=411, min=132.7ms, max=455.1ms
+  save_trajectories: mean=4.48s, total=4.48s, count=1, min=4482.0ms, max=4482.0ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4129.5ms, max=4129.5ms
+  physics_step: mean=9.1ms, total=3.75s, count=411, min=7.3ms, max=15.5ms
+  task_sampling: mean=201.2ms, total=603.6ms, count=3, min=189.8ms, max=216.1ms
+  task_specific_sample: mean=198.8ms, total=596.5ms, count=3, min=187.6ms, max=213.5ms
+  scene_randomize: mean=1.1ms, total=3.3ms, count=3, min=0.8ms, max=1.5ms
+  mj_forward_sync: mean=242.9us, total=0.7ms, count=3, min=0.2ms, max=0.2ms
+  policy_setup: mean=21.0us, 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 23:52:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.703s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:52:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.696[m] 95.060[deg]	[grasp_sample.py: 539]
+05/13 23:52:39 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:52:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:41 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:52:41 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:52:41 INFO: [Worker 0] Worker 0 completed house 1: 19/23 successful episodes	[pipeline.py: 1323]
+05/13 23:52:41 INFO: [Worker 0] [PROFILE] House 1 complete: 19/23 successful, 23 episodes, total_time=2994.48s
+  House averages:
+  episode_total: mean=25.07s, total=1805.05s, count=72, min=93.7ms, max=82603.5ms
+  sensor_polling: mean=151.5ms, total=924.88s, count=6105, min=128.2ms, max=670.2ms
+  save_trajectories: mean=4.75s, total=90.18s, count=19, min=4441.6ms, max=5517.3ms
+  save_batch_prep: mean=3.54s, total=67.25s, count=19, min=2632.8ms, max=5671.4ms
+  physics_step: mean=9.5ms, total=57.90s, count=6105, min=6.2ms, max=59.7ms
+  task_sampling: mean=344.6ms, total=22.40s, count=65, min=189.8ms, max=2183.0ms
+  task_specific_sample: mean=300.8ms, total=21.66s, count=72, min=91.4ms, max=755.9ms
+  scene_load: mean=1.65s, total=1.65s, count=1, min=1652.4ms, max=1652.4ms
+  task_sampling_failed: mean=155.1ms, total=1.09s, count=7, min=93.7ms, max=288.8ms
+  scene_env_create: mean=973.6ms, total=973.6ms, count=1, min=973.6ms, max=973.6ms
+  scene_compile: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
+  compile_mujoco: mean=371.4ms, total=371.4ms, count=1, min=371.4ms, max=371.4ms
+  compile_xml_load: mean=138.7ms, total=138.7ms, count=1, min=138.7ms, max=138.7ms
+  scene_randomize: mean=1.1ms, total=79.3ms, count=72, min=0.6ms, max=3.8ms
+  scene_init: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  compile_aux_policy_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  scene_asset_install: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  mj_forward_sync: mean=256.5us, total=18.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.3ms, total=17.3ms, count=1, min=17.3ms, max=17.3ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=17.3us, total=1.1ms, 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 23:52:41 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:52:41 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 23 episodes, total_time=2994.48s
+  Worker averages:
+  episode_total: mean=25.07s, total=1805.05s, count=72, min=93.7ms, max=82603.5ms
+  sensor_polling: mean=151.5ms, total=924.88s, count=6105, min=128.2ms, max=670.2ms
+  save_trajectories: mean=4.75s, total=90.18s, count=19, min=4441.6ms, max=5517.3ms
+  save_batch_prep: mean=3.54s, total=67.25s, count=19, min=2632.8ms, max=5671.4ms
+  physics_step: mean=9.5ms, total=57.90s, count=6105, min=6.2ms, max=59.7ms
+  task_sampling: mean=344.6ms, total=22.40s, count=65, min=189.8ms, max=2183.0ms
+  task_specific_sample: mean=300.8ms, total=21.66s, count=72, min=91.4ms, max=755.9ms
+  scene_load: mean=1.65s, total=1.65s, count=1, min=1652.4ms, max=1652.4ms
+  task_sampling_failed: mean=155.1ms, total=1.09s, count=7, min=93.7ms, max=288.8ms
+  scene_env_create: mean=973.6ms, total=973.6ms, count=1, min=973.6ms, max=973.6ms
+  scene_compile: mean=585.6ms, total=585.6ms, count=1, min=585.6ms, max=585.6ms
+  compile_mujoco: mean=371.4ms, total=371.4ms, count=1, min=371.4ms, max=371.4ms
+  compile_xml_load: mean=138.7ms, total=138.7ms, count=1, min=138.7ms, max=138.7ms
+  scene_randomize: mean=1.1ms, total=79.3ms, count=72, min=0.6ms, max=3.8ms
+  scene_init: mean=65.3ms, total=65.3ms, count=1, min=65.3ms, max=65.3ms
+  compile_aux_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  compile_aux_policy_objects: mean=59.3ms, total=59.3ms, count=1, min=59.3ms, max=59.3ms
+  scene_asset_install: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  mj_forward_sync: mean=256.5us, total=18.5ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.3ms, total=17.3ms, count=1, min=17.3ms, max=17.3ms
+  compile_robot_add: mean=9.5ms, total=9.5ms, count=1, min=9.5ms, max=9.5ms
+  asset_install_objects: mean=7.6ms, total=7.6ms, count=1, min=7.6ms, max=7.6ms
+  asset_install_scene: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  policy_setup: mean=17.3us, total=1.1ms, 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 23:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:42 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 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118449m	[env.py: 870]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=123.2ms, total=123.2ms	[env.py: 1105]
+05/13 23:52:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:52:42 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:52:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:52:45 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:52:45 INFO: Success count: 19, Total count: 23	[pipeline.py: 1491]
+05/13 23:52:45 INFO: Success rate: 82.61%	[pipeline.py: 1492]
+05/13 23:52:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:52:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:52:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:52:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:52:45 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 23:52:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:52:45 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 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161611m	[env.py: 870]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:52:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40175305 -1.10817716 -0.16161136] yaw=-65.1deg	[env.py: 1019]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:52:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.1ms	[env.py: 1075]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.402, -1.108, -0.162)	[env.py: 1079]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg	[env.py: 1082]
+05/13 23:52:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:52:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:52:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:52:45 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:52:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:52:45 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 23:52:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:52:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.043s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:52:46 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:52:46 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.593[m] 85.889[deg]	[grasp_sample.py: 539]
+05/13 23:52:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:52:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:52:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:03 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:53:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:53:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:17 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:53:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:53:17 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 23:53:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:53:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:53:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 7.88s (batch: 3.14s, save: 4.74s)	[pipeline.py: 300]
+05/13 23:53:26 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=1.59s:
+  episode_total: mean=35.81s, total=214.85s, count=6, min=1820.2ms, max=93876.6ms
+  sensor_polling: mean=146.8ms, total=81.64s, count=556, min=132.1ms, max=486.5ms
+  physics_step: mean=9.3ms, total=5.15s, count=556, min=6.4ms, max=14.2ms
+  save_trajectories: mean=4.74s, total=4.74s, count=1, min=4738.6ms, max=4738.6ms
+  save_batch_prep: mean=3.14s, total=3.14s, count=1, min=3142.0ms, max=3142.0ms
+  task_sampling: mean=264.3ms, total=1.59s, count=6, min=221.5ms, max=299.0ms
+  task_specific_sample: mean=261.2ms, total=1.57s, count=6, min=219.3ms, max=295.4ms
+  scene_randomize: mean=1.1ms, total=6.9ms, count=6, min=0.7ms, max=1.4ms
+  mj_forward_sync: mean=283.4us, total=1.7ms, count=6, min=0.2ms, max=0.4ms
+  policy_setup: mean=12.3us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:53:27 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:53:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:53:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:53:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:53:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:53:28 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 23:53:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:53:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101512m	[env.py: 870]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:53:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35922541 -0.92955345 -0.10151242] yaw=-51.4deg	[env.py: 1019]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.68775192 -0.9231582  -0.10151242] yaw=-64.2deg	[env.py: 1019]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.54863661 -0.7149476  -0.10151242] yaw=-40.4deg	[env.py: 1019]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:53:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=125.3ms, total=125.3ms	[env.py: 1075]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.930, -0.102)	[env.py: 1079]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.4 deg	[env.py: 1082]
+05/13 23:53:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:53:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:53:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:53:28 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:53:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:53:28 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 23:53:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:53:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:53:30 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.309s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:53:30 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.730[m] 82.102[deg]	[grasp_sample.py: 539]
+05/13 23:53:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:53:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:53:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:41 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:53:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:53:41 INFO: [Worker 0] Preparing episode data: 251 timesteps	[save_utils.py: 278]
+05/13 23:53:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:53:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:53:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.38s (batch: 3.98s, save: 4.40s)	[pipeline.py: 300]
+05/13 23:53:50 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.57s:
+  episode_total: mean=17.05s, total=68.21s, count=4, min=129.3ms, max=65284.9ms
+  sensor_polling: mean=148.4ms, total=37.09s, count=250, min=137.1ms, max=436.8ms
+  save_trajectories: mean=4.40s, total=4.40s, count=1, min=4401.2ms, max=4401.2ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3976.5ms, max=3976.5ms
+  physics_step: mean=9.4ms, total=2.36s, count=250, min=7.3ms, max=12.5ms
+  task_specific_sample: mean=207.0ms, total=828.1ms, count=4, min=126.8ms, max=295.9ms
+  task_sampling: mean=285.1ms, total=570.3ms, count=2, min=271.7ms, max=298.5ms
+  task_sampling_failed: mean=134.7ms, total=269.4ms, count=2, min=129.3ms, max=140.1ms
+  scene_randomize: mean=1.1ms, total=4.3ms, count=4, min=0.8ms, max=1.8ms
+  mj_forward_sync: mean=263.8us, total=1.1ms, count=4, min=0.3ms, max=0.3ms
+  policy_setup: mean=25.4us, total=0.1ms, 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 23:53:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:53:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:53:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:53:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:53:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:53:52 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 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151335m	[env.py: 870]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17329448 -1.21092858 -0.15133514] yaw=-50.8deg	[env.py: 1019]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57223798 -0.74277095 -0.15133514] yaw=-53.7deg	[env.py: 1019]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:53:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=122.2ms, total=122.2ms	[env.py: 1075]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.211, -0.151)	[env.py: 1079]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.8 deg	[env.py: 1082]
+05/13 23:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.935m	[env.py: 1086]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:53:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:53:53 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:53:53 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 23:53:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:53:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.575s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:53:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.724[m] 85.558[deg]	[grasp_sample.py: 539]
+05/13 23:53:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:53:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:53:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:53:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:53:59 INFO: [Worker 0] Object is not in grasp! 0.00103 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:53:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:53:59 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 23:53:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:53:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.068s, found 109 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:54:00 INFO: [Worker 0] Feasibility-checked 109 grasps in 1.591s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:54:00 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.040[m] 1.981[deg]	[grasp_sample.py: 539]
+05/13 23:54:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:54:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:54:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:54:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:54:21 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:54:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:22 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 23:54:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:54:22 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 23:54:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:54:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.078s, found 96 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:54:24 INFO: [Worker 0] Feasibility-checked 96 grasps in 1.616s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:54:24 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.044[m] 3.564[deg]	[grasp_sample.py: 539]
+05/13 23:54:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:54:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:54:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:54:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:36 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:54:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:54:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:54:43 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:54:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:54:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:54:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 10.28s (batch: 5.06s, save: 5.22s)	[pipeline.py: 300]
+05/13 23:54:47 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.27s:
+  episode_total: mean=79.76s, total=79.76s, count=1, min=79757.5ms, max=79757.5ms
+  sensor_polling: mean=147.9ms, total=44.38s, count=300, min=130.7ms, max=472.5ms
+  save_trajectories: mean=5.22s, total=5.22s, count=1, min=5224.3ms, max=5224.3ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5056.5ms, max=5056.5ms
+  physics_step: mean=9.3ms, total=2.79s, count=300, min=7.6ms, max=25.0ms
+  task_sampling: mean=271.2ms, total=271.2ms, count=1, min=271.2ms, max=271.2ms
+  task_specific_sample: mean=268.7ms, total=268.7ms, count=1, min=268.7ms, max=268.7ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=300.0us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=15.4us, 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 23:54:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:54:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:54:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:54:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:54:50 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 23:54:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:54:50 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 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181913m	[env.py: 870]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:54:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.47074552 -1.07398929 -0.18191331] yaw=-25.9deg	[env.py: 1019]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64064859 -0.96371227 -0.18191331] yaw=-49.0deg	[env.py: 1019]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30827492 -1.07988598 -0.18191331] yaw=-32.0deg	[env.py: 1019]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:54:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=134.7ms, total=134.7ms	[env.py: 1075]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -1.074, -0.182)	[env.py: 1079]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.9 deg	[env.py: 1082]
+05/13 23:54:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:54:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:54:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:54:50 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:54:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:54:50 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 23:54:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:54:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:54:51 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.050s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:54:51 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.629[m] 83.329[deg]	[grasp_sample.py: 539]
+05/13 23:54:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:54:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:54:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:54:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:54:57 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:54:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 23:54:57 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 23:55:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:55:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:55:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 9.35s (batch: 4.05s, save: 5.31s)	[pipeline.py: 300]
+05/13 23:55:08 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=0.30s:
+  episode_total: mean=75.40s, total=75.40s, count=1, min=75400.6ms, max=75400.6ms
+  sensor_polling: mean=144.5ms, total=43.35s, count=300, min=133.4ms, max=403.8ms
+  save_trajectories: mean=5.31s, total=5.31s, count=1, min=5306.4ms, max=5306.4ms
+  save_batch_prep: mean=4.05s, total=4.05s, count=1, min=4045.4ms, max=4045.4ms
+  physics_step: mean=9.4ms, total=2.82s, count=300, min=7.4ms, max=26.9ms
+  task_sampling: mean=296.7ms, total=296.7ms, count=1, min=296.7ms, max=296.7ms
+  task_specific_sample: mean=294.1ms, total=294.1ms, count=1, min=294.1ms, max=294.1ms
+  scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms
+  mj_forward_sync: mean=265.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=28.0us, 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 23:55:10 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:55:10 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:55:10 INFO: [Worker 0] Worker 0 completed house 1: 20/22 successful episodes	[pipeline.py: 1323]
+05/13 23:55:10 INFO: [Worker 0] [PROFILE] House 1 complete: 20/22 successful, 22 episodes, total_time=3247.03s
+  House averages:
+  episode_total: mean=26.79s, total=1928.83s, count=72, min=96.1ms, max=100551.5ms
+  sensor_polling: mean=155.1ms, total=1034.00s, count=6665, min=130.7ms, max=745.1ms
+  save_trajectories: mean=4.86s, total=97.25s, count=20, min=4401.2ms, max=5306.4ms
+  save_batch_prep: mean=3.72s, total=74.34s, count=20, min=2965.9ms, max=5366.9ms
+  physics_step: mean=9.8ms, total=65.15s, count=6665, min=6.2ms, max=34.5ms
+  task_specific_sample: mean=293.5ms, total=21.13s, count=72, min=91.9ms, max=594.3ms
+  task_sampling: mean=336.4ms, total=20.18s, count=60, min=183.6ms, max=1727.0ms
+  task_sampling_failed: mean=215.6ms, total=2.59s, count=12, min=96.1ms, max=595.5ms
+  scene_load: mean=1.43s, total=1.43s, count=1, min=1426.2ms, max=1426.2ms
+  scene_env_create: mean=781.7ms, total=781.7ms, count=1, min=781.7ms, max=781.7ms
+  scene_compile: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  compile_mujoco: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  compile_xml_load: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_randomize: mean=1.2ms, total=87.7ms, count=72, min=0.7ms, max=1.9ms
+  scene_init: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  compile_aux_policy_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  mj_forward_sync: mean=266.0us, total=19.1ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.4us, total=1.2ms, count=60, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:55:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:55:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=3247.03s
+  Worker averages:
+  episode_total: mean=26.79s, total=1928.83s, count=72, min=96.1ms, max=100551.5ms
+  sensor_polling: mean=155.1ms, total=1034.00s, count=6665, min=130.7ms, max=745.1ms
+  save_trajectories: mean=4.86s, total=97.25s, count=20, min=4401.2ms, max=5306.4ms
+  save_batch_prep: mean=3.72s, total=74.34s, count=20, min=2965.9ms, max=5366.9ms
+  physics_step: mean=9.8ms, total=65.15s, count=6665, min=6.2ms, max=34.5ms
+  task_specific_sample: mean=293.5ms, total=21.13s, count=72, min=91.9ms, max=594.3ms
+  task_sampling: mean=336.4ms, total=20.18s, count=60, min=183.6ms, max=1727.0ms
+  task_sampling_failed: mean=215.6ms, total=2.59s, count=12, min=96.1ms, max=595.5ms
+  scene_load: mean=1.43s, total=1.43s, count=1, min=1426.2ms, max=1426.2ms
+  scene_env_create: mean=781.7ms, total=781.7ms, count=1, min=781.7ms, max=781.7ms
+  scene_compile: mean=559.9ms, total=559.9ms, count=1, min=559.9ms, max=559.9ms
+  compile_mujoco: mean=383.0ms, total=383.0ms, count=1, min=383.0ms, max=383.0ms
+  compile_xml_load: mean=131.6ms, total=131.6ms, count=1, min=131.6ms, max=131.6ms
+  scene_randomize: mean=1.2ms, total=87.7ms, count=72, min=0.7ms, max=1.9ms
+  scene_init: mean=56.6ms, total=56.6ms, count=1, min=56.6ms, max=56.6ms
+  compile_aux_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  compile_aux_policy_objects: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  scene_asset_install: mean=27.8ms, total=27.8ms, count=1, min=27.8ms, max=27.8ms
+  mj_forward_sync: mean=266.0us, total=19.1ms, count=72, min=0.2ms, max=0.4ms
+  asset_install_grasps: mean=17.7ms, total=17.7ms, count=1, min=17.7ms, max=17.7ms
+  asset_install_objects: mean=7.5ms, total=7.5ms, count=1, min=7.5ms, max=7.5ms
+  compile_robot_add: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=20.4us, total=1.2ms, count=60, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:55:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:55:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:55:13 INFO: Success count: 20, Total count: 22	[pipeline.py: 1491]
+05/13 23:55:13 INFO: Success rate: 90.91%	[pipeline.py: 1492]
+05/13 23:55:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:55:16 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:55:34 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:55:48 INFO: [Worker 0] Saved videos eagerly for episode 21 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:55:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:55:48 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:55:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:55:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:55:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.63s (batch: 4.07s, save: 4.56s)	[pipeline.py: 300]
+05/13 23:55:58 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.31s:
+  episode_total: mean=68.06s, total=68.06s, count=1, min=68055.0ms, max=68055.0ms
+  sensor_polling: mean=150.6ms, total=39.60s, count=263, min=136.3ms, max=427.9ms
+  save_trajectories: mean=4.56s, total=4.56s, count=1, min=4557.0ms, max=4557.0ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4073.6ms, max=4073.6ms
+  physics_step: mean=9.2ms, total=2.42s, count=263, min=7.3ms, max=11.1ms
+  task_sampling: mean=309.2ms, total=309.2ms, count=1, min=309.2ms, max=309.2ms
+  task_specific_sample: mean=305.2ms, total=305.2ms, count=1, min=305.2ms, max=305.2ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=246.9us, 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 23:56:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:56:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163320m	[env.py: 870]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.10741991 -1.07234231 -0.1633201 ] yaw=-17.6deg	[env.py: 1019]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 25.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.16760799 -1.19094014 -0.1633201 ] yaw=-55.4deg	[env.py: 1019]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2145891  -1.36531193 -0.1633201 ] yaw=-53.1deg	[env.py: 1019]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:56:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=78.4ms, total=78.4ms	[env.py: 1075]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -1.072, -0.163)	[env.py: 1079]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg	[env.py: 1082]
+05/13 23:56:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.070m	[env.py: 1086]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:56:00 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:56:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:56:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:56:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:02 INFO: [Worker 0] Feasibility-checked 231 grasps in 1.505s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:56:02 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:56:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:04 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 23:56:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:04 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 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167179m	[env.py: 870]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=79.6ms, total=79.7ms	[env.py: 1105]
+05/13 23:56:04 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:56:04 ERROR: [Worker 0] Worker 0 house 1 episode 63 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:56:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:07 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 23:56:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113246m	[env.py: 870]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=79.4ms, total=79.4ms	[env.py: 1105]
+05/13 23:56:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:56:07 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:56:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:09 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 23:56:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:09 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 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143916m	[env.py: 870]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.43992367 -0.78230433 -0.14391583] yaw=-81.1deg	[env.py: 1019]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33206553 -0.83956687 -0.14391583] yaw=-78.7deg	[env.py: 1019]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60883101 -0.74375783 -0.14391583] yaw=-44.8deg	[env.py: 1019]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:56:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=41.2ms, total=41.2ms	[env.py: 1075]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.782, -0.144)	[env.py: 1079]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 23:56:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:09 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:56:09 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:56:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:56:09 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 23:56:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:11 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.500s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:56:11 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:56:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:13 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 23:56:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169753m	[env.py: 870]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54617303 -0.86769334 -0.16975293] yaw=-60.1deg	[env.py: 1019]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:56:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=89.8ms, total=89.8ms	[env.py: 1075]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.868, -0.170)	[env.py: 1079]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.1 deg	[env.py: 1082]
+05/13 23:56:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m	[env.py: 1086]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:56:13 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:56:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:56:14 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 23:56:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.074s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:56:18 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.661[m] 94.029[deg]	[grasp_sample.py: 539]
+05/13 23:56:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:56:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:56:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:56:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:56:41 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 23:56:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.040s, found 214 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:43 INFO: [Worker 0] Feasibility-checked 214 grasps in 1.618s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:56:43 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.103[m] 5.966[deg]	[grasp_sample.py: 539]
+05/13 23:56:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:56:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:56:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:56:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:56:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:56:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:56:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 216 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:51 INFO: [Worker 0] Feasibility-checked 216 grasps in 1.274s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:56:51 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.122[m] 11.535[deg]	[grasp_sample.py: 539]
+05/13 23:56:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:56:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:56:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:56:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:56:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:56:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:56:55 INFO: [Worker 0] Feasibility-checked 229 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:56:55 INFO: [Worker 0] Feasible grasp found 181 (originally 181): w/ 0.196[m] 13.318[deg]	[grasp_sample.py: 539]
+05/13 23:56:56 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:56:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:56:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:56:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:56:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:56:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:56:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190197m	[env.py: 870]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:56:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28146596 -0.96933579 -0.19019726] yaw=-35.5deg	[env.py: 1019]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:56:58 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 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -0.969, -0.190)	[env.py: 1079]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg	[env.py: 1082]
+05/13 23:56:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:56:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:56:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:56:58 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:56:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:56:59 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 23:56:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:56:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:57:02 INFO: [Worker 0] Feasibility-checked 233 grasps in 3.701s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:57:02 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.721[m] 87.431[deg]	[grasp_sample.py: 539]
+05/13 23:57:03 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:57:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:57:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:57:05 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 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172575m	[env.py: 870]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2788376  -1.16794223 -0.17257517] yaw=-28.1deg	[env.py: 1019]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:57:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=121.6ms, total=121.6ms	[env.py: 1075]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -1.168, -0.173)	[env.py: 1079]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.1 deg	[env.py: 1082]
+05/13 23:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m	[env.py: 1086]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:57:05 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:57:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:57:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:57:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:57:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.039s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:57:07 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.533s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:57:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.648[m] 75.741[deg]	[grasp_sample.py: 539]
+05/13 23:57:07 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:57:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:57:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:57:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:57:10 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 23:57:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:57:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164903m	[env.py: 870]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:57:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14058451 -1.17390735 -0.16490267] yaw=-44.8deg	[env.py: 1019]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31780172 -1.20237277 -0.16490267] yaw=-64.9deg	[env.py: 1019]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:57:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=118.1ms, total=118.1ms	[env.py: 1075]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.141, -1.174, -0.165)	[env.py: 1079]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/13 23:57:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:57:10 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:57:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:57:10 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 23:57:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:57:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:57:12 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.582s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:57:13 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.699[m] 91.846[deg]	[grasp_sample.py: 539]
+05/13 23:57:13 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:57:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:57:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:57:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:57:15 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 23:57:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:57:15 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 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180904m	[env.py: 870]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:57:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13764616 -1.41138345 -0.18090445] yaw=-13.5deg	[env.py: 1019]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:57:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=115.7ms, total=115.7ms	[env.py: 1075]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.411, -0.181)	[env.py: 1079]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.5 deg	[env.py: 1082]
+05/13 23:57:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m	[env.py: 1086]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:57:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:57:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:57:15 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:57:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:57:16 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 23:57:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:57:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.038s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:57:19 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.555s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:57:19 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.587[m] 86.064[deg]	[grasp_sample.py: 539]
+05/13 23:57:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:57:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:57:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:57:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:57:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:57:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:57:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:57:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:57:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:58:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:58:00 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:58:13 INFO: [Worker 0] Saved videos eagerly for episode 22 to /scr/ravenh/3drawers/sim_chunks/chunk_056	[pipeline.py: 1174]
+05/13 23:58:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_056 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:58:13 INFO: [Worker 0] Preparing episode data: 252 timesteps	[save_utils.py: 278]
+05/13 23:58:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:58:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_056	[save_utils.py: 785]
+05/13 23:58:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_056 in 8.29s (batch: 3.88s, save: 4.41s)	[pipeline.py: 300]
+05/13 23:58:22 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=1.68s:
+  episode_total: mean=13.75s, total=123.77s, count=9, min=84.6ms, max=66997.2ms
+  sensor_polling: mean=138.4ms, total=59.94s, count=433, min=130.2ms, max=401.5ms
+  save_trajectories: mean=4.41s, total=4.41s, count=1, min=4409.9ms, max=4409.9ms
+  physics_step: mean=9.1ms, total=3.92s, count=433, min=7.3ms, max=10.7ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3881.4ms, max=3881.4ms
+  task_specific_sample: mean=202.8ms, total=1.82s, count=9, min=82.6ms, max=266.1ms
+  task_sampling: mean=239.4ms, total=1.68s, count=7, min=176.3ms, max=268.1ms
+  task_sampling_failed: mean=85.2ms, total=170.4ms, count=2, min=84.6ms, max=85.9ms
+  scene_randomize: mean=1.0ms, total=9.2ms, count=9, min=0.9ms, max=1.8ms
+  mj_forward_sync: mean=238.8us, total=2.1ms, count=9, min=0.2ms, max=0.2ms
+  policy_setup: mean=16.3us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:58:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:58:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:58:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:58:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:58:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:58:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:58:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:58:25 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 23:58:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:58:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142160m	[env.py: 870]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:58:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:58:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:58:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=87.5ms, total=87.6ms	[env.py: 1105]
+05/13 23:58:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:58:25 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:58:27 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:58:27 WARNING: [Worker 0] No trajectory data to save for chunk_056	[pipeline.py: 234]
+05/13 23:58:27 INFO: [Worker 0] Worker 0 completed house 1: 23/25 successful episodes	[pipeline.py: 1323]
+05/13 23:58:27 INFO: [Worker 0] [PROFILE] House 1 complete: 23/25 successful, 25 episodes, total_time=3578.98s
+  House averages:
+  episode_total: mean=29.89s, total=2152.37s, count=72, min=84.6ms, max=93876.6ms
+  sensor_polling: mean=151.1ms, total=1115.14s, count=7378, min=130.1ms, max=980.5ms
+  save_trajectories: mean=4.86s, total=111.85s, count=23, min=4334.2ms, max=5848.3ms
+  save_batch_prep: mean=3.35s, total=77.16s, count=23, min=2758.5ms, max=5343.9ms
+  physics_step: mean=9.5ms, total=70.16s, count=7378, min=6.3ms, max=45.1ms
+  task_sampling: mean=352.6ms, total=23.27s, count=66, min=176.3ms, max=2559.9ms
+  task_specific_sample: mean=309.5ms, total=22.28s, count=72, min=82.6ms, max=658.8ms
+  scene_load: mean=2.12s, total=2.12s, count=1, min=2123.5ms, max=2123.5ms
+  task_sampling_failed: mean=221.4ms, total=1.33s, count=6, min=84.6ms, max=433.0ms
+  scene_env_create: mean=1.04s, total=1.04s, count=1, min=1042.5ms, max=1042.5ms
+  scene_compile: mean=996.6ms, total=996.6ms, count=1, min=996.6ms, max=996.6ms
+  compile_xml_load: mean=477.8ms, total=477.8ms, count=1, min=477.8ms, max=477.8ms
+  compile_mujoco: mean=439.3ms, total=439.3ms, count=1, min=439.3ms, max=439.3ms
+  scene_randomize: mean=1.1ms, total=82.5ms, count=72, min=0.6ms, max=3.0ms
+  scene_init: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_aux_policy_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_asset_install: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=260.8us, total=18.8ms, count=72, min=0.2ms, max=0.9ms
+  asset_install_grasps: mean=18.1ms, total=18.1ms, count=1, min=18.1ms, max=18.1ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=15.2us, total=1.0ms, count=66, 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 23:58:27 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:58:27 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 25 episodes, total_time=3578.98s
+  Worker averages:
+  episode_total: mean=29.89s, total=2152.37s, count=72, min=84.6ms, max=93876.6ms
+  sensor_polling: mean=151.1ms, total=1115.14s, count=7378, min=130.1ms, max=980.5ms
+  save_trajectories: mean=4.86s, total=111.85s, count=23, min=4334.2ms, max=5848.3ms
+  save_batch_prep: mean=3.35s, total=77.16s, count=23, min=2758.5ms, max=5343.9ms
+  physics_step: mean=9.5ms, total=70.16s, count=7378, min=6.3ms, max=45.1ms
+  task_sampling: mean=352.6ms, total=23.27s, count=66, min=176.3ms, max=2559.9ms
+  task_specific_sample: mean=309.5ms, total=22.28s, count=72, min=82.6ms, max=658.8ms
+  scene_load: mean=2.12s, total=2.12s, count=1, min=2123.5ms, max=2123.5ms
+  task_sampling_failed: mean=221.4ms, total=1.33s, count=6, min=84.6ms, max=433.0ms
+  scene_env_create: mean=1.04s, total=1.04s, count=1, min=1042.5ms, max=1042.5ms
+  scene_compile: mean=996.6ms, total=996.6ms, count=1, min=996.6ms, max=996.6ms
+  compile_xml_load: mean=477.8ms, total=477.8ms, count=1, min=477.8ms, max=477.8ms
+  compile_mujoco: mean=439.3ms, total=439.3ms, count=1, min=439.3ms, max=439.3ms
+  scene_randomize: mean=1.1ms, total=82.5ms, count=72, min=0.6ms, max=3.0ms
+  scene_init: mean=54.7ms, total=54.7ms, count=1, min=54.7ms, max=54.7ms
+  compile_aux_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  compile_aux_policy_objects: mean=51.6ms, total=51.6ms, count=1, min=51.6ms, max=51.6ms
+  scene_asset_install: mean=29.4ms, total=29.4ms, count=1, min=29.4ms, max=29.4ms
+  compile_robot_add: mean=19.9ms, total=19.9ms, count=1, min=19.9ms, max=19.9ms
+  mj_forward_sync: mean=260.8us, total=18.8ms, count=72, min=0.2ms, max=0.9ms
+  asset_install_grasps: mean=18.1ms, total=18.1ms, count=1, min=18.1ms, max=18.1ms
+  asset_install_objects: mean=8.1ms, total=8.1ms, count=1, min=8.1ms, max=8.1ms
+  asset_install_scene: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  policy_setup: mean=15.2us, total=1.0ms, count=66, 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 23:58:30 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:58:30 INFO: Success count: 23, Total count: 25	[pipeline.py: 1491]
+05/13 23:58:30 INFO: Success rate: 92.00%	[pipeline.py: 1492]
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