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+05/13 22:02:54 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:02:54 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:02:54 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:02:54 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/',
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+                                'visibility_constraints': None},
+                               {'camera_offset': [-0.3063767985191294,
+                                                  0.41898548410680353,
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+                                'lookat_offset': [0.0, 0.0, 0.08],
+                                'name': 'exo_camera_1',
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+                                '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,
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+                         'custom_object_path': None,
+                         'episode_idx': None},
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+ 'log_level': 'info',
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+ 'num_workers': 1,
+ 'output_dir': PosixPath('/scr/ravenh/3drawers/sim_chunks/chunk_006'),
+ '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,
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+                                500.000000000004,
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+                                          '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': 20063,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:02:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:02:54 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:02:54 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:02:55 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:02:55 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:02:55 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:02:55 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_006'),
+ '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 0x75d85c637250>,
+ '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': 20062,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:02:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:02:55 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:02:55 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:02:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:02:56 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:02:57 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:02:57 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:02:57 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:02:57 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_006'),
+ '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 0x7e64fe0ddc90>,
+ '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': 20064,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:02:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:02:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:02:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:02:57 INFO: WandB logging disabled (environment variables not set)	[pipeline.py: 640]
+05/13 22:02:57 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes	[pipeline.py: 1359]
+05/13 22:02:57 INFO: Evaluation configuration:	[pipeline.py: 1366]
+05/13 22:02:57 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_006'),
+ '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 0x7e73fe8b8a10>,
+ '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': 20061,
+ 'shared_output_dir': True,
+ 'sim_dt_ms': 2.0,
+ 'task_config': {'action_dtype': 'float32',
+                 'added_objects': {},
+                 'any_inst_of_category': True,
+                 'articulation_object_name': None,
+                 'enable_rendering': True,
+                 'joint_goal_position': None,
+                 'joint_index': 0,
+                 'joint_name': None,
+                 'joint_start_position': None,
+                 'object_poses': None,
+                 'pickup_obj_goal_pose': None,
+                 'pickup_obj_name': None,
+                 'pickup_obj_start_pose': None,
+                 'place_target_name': None,
+                 'receptacle_name': None,
+                 'referral_expressions': {},
+                 'referral_expressions_priority': {},
+                 'robot_base_pose': None,
+                 'succ_pos_threshold': 0.01,
+                 'task_cls': <class 'molmo_spaces.tasks.opening_tasks.OpeningTask'>,
+                 'task_success_threshold': 0.15,
+                 'tracked_object_names': None,
+                 'use_sensors': True},
+ 'task_config_preset': None,
+ 'task_config_preset_exp': None,
+ 'task_config_preset_scn': None,
+ 'task_horizon': 300,
+ 'task_sampler_config': {'absolute_robot_base_z': 0.86,
+                         'absolute_robot_base_z_jitter_range': (-0.2, -0.1),
+                         'added_pickup_class_max_uids': None,
+                         'added_pickup_class_rank': None,
+                         'added_pickup_namespace': 'pickup/',
+                         'added_pickup_objects': None,
+                         'base_pose_sampling_radius_range': (0.8, 1.1),
+                         'base_pose_sampling_theta_range_rad': (1.6, 2.8),
+                         'check_robot_placement_visibility': True,
+                         'dataset_name': 'procthor-10k',
+                         'enable_texture_randomization': False,
+                         'episodes_per_added_pickup': 1,
+                         'fixed_joint_index': 0,
+                         'fixed_object_instance_index': [0],
+                         'house_inds': [1],
+                         'load_robot_from_file': True,
+                         'max_added_pickup_placement_attempts': 100,
+                         'max_allowed_sequential_irrecoverable_failures': 5,
+                         'max_allowed_sequential_rollout_failures': 100,
+                         'max_allowed_sequential_task_sampler_failures': 100,
+                         'max_asset_failures': 10,
+                         'max_object_placement_attempts': 200,
+                         'max_receptacle_attempts': 10,
+                         'max_reference_to_added_pickup_dist': 0.5,
+                         'max_robot_placement_attempts': 10,
+                         'max_robot_to_added_pickup_dist': 0.7,
+                         'max_robot_to_obj_dist': 0.6,
+                         'max_robot_to_target_dist': 0.6,
+                         'max_tasks': inf,
+                         'max_total_attempts_multiplier': 6,
+                         'min_object_separation': 0.05,
+                         'min_reference_to_added_pickup_dist': 0.15,
+                         'num_added_pickups': 30,
+                         'objaverse_oversampling_factor': 30,
+                         'object_placement_radius_range': (0.1, 0.8),
+                         'pickup_obj_name': None,
+                         'pickup_types': ['drawer'],
+                         'place_target_name': None,
+                         'placement_robot_height': 1.4,
+                         'placement_volume_name': None,
+                         'randomize_dynamics': False,
+                         'randomize_lighting': False,
+                         'randomize_robot_textures': False,
+                         'randomize_textures': False,
+                         'randomize_textures_all': False,
+                         'receptacle_name': None,
+                         'receptacle_types': ('ArmChair',
+                                              'Bed',
+                                              'Chair',
+                                              'CoffeeTable',
+                                              'CounterTop',
+                                              'Desk',
+                                              'DiningTable',
+                                              'Dresser',
+                                              'Shelf',
+                                              'SideTable',
+                                              'Sofa',
+                                              'Stool',
+                                              'TVStand'),
+                         'robot_object_z_offset': -1.0,
+                         'robot_object_z_offset_random_max': 0,
+                         'robot_object_z_offset_random_min': 0,
+                         'robot_placement_exclusion_threshold': 0.0,
+                         'robot_placement_radius_range': (0.3, 0.8),
+                         'robot_placement_rotation_range_rad': 0.5,
+                         'robot_safety_radius': 0.15,
+                         'samples_per_house': 12,
+                         'scene_xml_paths': None,
+                         'sim_settle_timesteps': 500,
+                         'target_initial_state_open_percentage': 0.0,
+                         'task_batch_size': 1,
+                         'task_sampler_class': <class 'molmo_spaces.tasks.opening_task_samplers.OpenTaskSampler'>,
+                         'verbose': False},
+ 'task_type': 'open',
+ 'total_batches': 4,
+ 'use_filament': False,
+ 'use_passive_viewer': False,
+ 'use_viser': False,
+ 'use_wandb': False,
+ 'viewer_cam_dict': {'azimuth': 45.0,
+                     'distance': 5.0,
+                     'elevation': -30.0,
+                     'lookat': [0.0, 0.0, 0.5]},
+ 'viewer_camera': None,
+ 'viser_port': 8080,
+ 'wandb_name': None,
+ 'wandb_project': 'molmo-spaces-data-generation'}	[pipeline.py: 1367]
+05/13 22:02:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}}	[task_sampler.py: 317]
+05/13 22:02:57 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler	[pipeline.py: 437]
+05/13 22:02:57 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1)	[pipeline.py: 464]
+05/13 22:02:57 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:02:57 INFO: [Worker 0] Loaded 4 assets from static blacklist	[task_sampler.py: 113]
+05/13 22:02:59 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:02:59 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:02:59 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:02:59 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:02:59 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:02:59 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:02:59 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:02:59 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:02:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:02:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:02:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:02:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:02:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:02:59 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 22:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129749m	[env.py: 870]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:02:59 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:02:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:02:59 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 22:02:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:02:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122192m	[env.py: 870]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:02:59 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11869753 -1.17812002 -0.12974902] yaw=-13.8deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.73602825 -0.79109925 -0.12219243] yaw=-75.1deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.88546723 -0.65852581 -0.12219243] yaw=-62.0deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.92088021 -0.82948609 -0.12974902] yaw=-61.6deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.30588118 -0.91338232 -0.12974902] yaw=-59.0deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=22.1ms, retries=259.1ms, total=281.2ms	[env.py: 1075]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -1.178, -0.130)	[env.py: 1079]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.8 deg	[env.py: 1082]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18323727 -1.09183066 -0.12219243] yaw=-61.3deg	[env.py: 1019]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:02:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=22.5ms, retries=297.3ms, total=319.8ms	[env.py: 1075]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.736, -0.791, -0.122)	[env.py: 1079]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg	[env.py: 1082]
+05/13 22:02:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m	[env.py: 1086]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:02:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:02:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:02:59 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:02:59 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:02:59 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:03:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:03:00 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:03:00 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:03:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:00 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 22:03:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180555m	[env.py: 870]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:03:00 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_3drawers/FloorPlan1_physics.xml	[task_sampler.py: 797]
+05/13 22:03:00 INFO: [Worker 0] Setting up scene for house 1, task None...	[pick_task_sampler.py: 197]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 INFO: [Worker 0] Found 3 candidate pickup objects in the scene	[pick_task_sampler.py: 842]
+05/13 22:03:00 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 %	[pick_task_sampler.py: 926]
+05/13 22:03:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:00 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 22:03:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125673m	[env.py: 870]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:00 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100)	[env.py: 780]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=22.7ms, retries=234.3ms, total=257.0ms	[env.py: 1105]
+05/13 22:03:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:03:00 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 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37739464 -1.12799934 -0.12567252] yaw=-66.5deg	[env.py: 1019]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.51681046 -0.93364258 -0.12567252] yaw=-57.3deg	[env.py: 1019]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=27.0ms, retries=295.6ms, total=322.7ms	[env.py: 1075]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -1.128, -0.126)	[env.py: 1079]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.5 deg	[env.py: 1082]
+05/13 22:03:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m	[env.py: 1086]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:01 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138269m	[env.py: 870]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30807948 -1.17419032 -0.13826859] yaw=-29.0deg	[env.py: 1019]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65117381 -0.85766503 -0.13826859] yaw=-72.3deg	[env.py: 1019]
+05/13 22:03:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30674294 -1.02229751 -0.13826859] yaw=-32.3deg	[env.py: 1019]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=274.0ms, total=274.1ms	[env.py: 1075]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.174, -0.138)	[env.py: 1079]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.0 deg	[env.py: 1082]
+05/13 22:03:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m	[env.py: 1086]
+05/13 22:03:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:02 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 36.586s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:36 INFO: [Worker 0] Warmed up parallel IK solver in 36.566s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:38 INFO: [Worker 0] Warmed up parallel IK solver in 36.889s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:38 INFO: [Worker 0] Warmed up parallel IK solver in 36.478s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:39 INFO: [Worker 0] Feasibility-checked 238 grasps in 2.725s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:03:39 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:03:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167011m	[env.py: 870]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25277586 -1.03171901 -0.16701063] yaw=-19.1deg	[env.py: 1019]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=317.7ms, total=317.8ms	[env.py: 1075]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.253, -1.032, -0.167)	[env.py: 1079]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.1 deg	[env.py: 1082]
+05/13 22:03:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:41 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:42 INFO: [Worker 0] Feasibility-checked 240 grasps in 3.275s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:03:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.603[m] 84.758[deg]	[grasp_sample.py: 539]
+05/13 22:03:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.632s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:03:42 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.653[m] 102.204[deg]	[grasp_sample.py: 539]
+05/13 22:03:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:03:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:03:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:03:43 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:03:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:03:44 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.721s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:03:44 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.741[m] 84.302[deg]	[grasp_sample.py: 539]
+05/13 22:03:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111342m	[env.py: 870]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30971255 -1.11780212 -0.11134243] yaw=-69.9deg	[env.py: 1019]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.31428714 -0.96273529 -0.11134243] yaw=-50.1deg	[env.py: 1019]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.6ms, total=267.6ms	[env.py: 1075]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.310, -1.118, -0.111)	[env.py: 1079]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg	[env.py: 1082]
+05/13 22:03:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:45 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:45 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:03:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133467m	[env.py: 870]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01303921 -1.28234145 -0.13346703] yaw=-17.2deg	[env.py: 1019]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11267733 -1.080241   -0.13346703] yaw=-23.0deg	[env.py: 1019]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.3ms	[env.py: 1075]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.013, -1.282, -0.133)	[env.py: 1079]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.2 deg	[env.py: 1082]
+05/13 22:03:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m	[env.py: 1086]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:48 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 12.053s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:03:48 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.712[m] 93.080[deg]	[grasp_sample.py: 539]
+05/13 22:03:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.772s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:03:48 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.678[m] 96.280[deg]	[grasp_sample.py: 539]
+05/13 22:03:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:03:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:03:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:03:49 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:03:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:03:51 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.628s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:03:51 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:03:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126152m	[env.py: 870]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12562987 -1.07165867 -0.12615222] yaw=-36.5deg	[env.py: 1019]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46583354 -0.77798717 -0.12615222] yaw=-40.1deg	[env.py: 1019]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.0ms, total=249.1ms	[env.py: 1075]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.072, -0.126)	[env.py: 1079]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.5 deg	[env.py: 1082]
+05/13 22:03:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.056m	[env.py: 1086]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:52 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193239m	[env.py: 870]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18311898 -1.1843021  -0.19323934] yaw=-56.6deg	[env.py: 1019]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.57227657 -0.87203155 -0.19323934] yaw=-76.3deg	[env.py: 1019]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.8ms, total=234.8ms	[env.py: 1075]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.183, -1.184, -0.193)	[env.py: 1079]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.6 deg	[env.py: 1082]
+05/13 22:03:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:53 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:03:55 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.651s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:03:55 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:03:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:03:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:03:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:03:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:03:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:03:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127547m	[env.py: 870]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:03:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2179515  -1.36854414 -0.12754697] yaw=-14.7deg	[env.py: 1019]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.74345994 -0.80456794 -0.12754697] yaw=-76.4deg	[env.py: 1019]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:03:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=209.2ms, total=209.2ms	[env.py: 1075]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.218, -1.369, -0.128)	[env.py: 1079]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.7 deg	[env.py: 1082]
+05/13 22:03:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:03:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:03:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:03:57 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:03:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:03:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:03:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:03:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:04:02 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.359s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:04:02 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.628[m] 83.720[deg]	[grasp_sample.py: 539]
+05/13 22:04:03 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:04:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:04:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:04:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:04:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:04:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:04:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:04:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132584m	[env.py: 870]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:04:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38302405 -0.94567484 -0.1325837 ] yaw=-34.2deg	[env.py: 1019]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25588647 -1.25222038 -0.1325837 ] yaw=-45.4deg	[env.py: 1019]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:04:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms	[env.py: 1075]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.383, -0.946, -0.133)	[env.py: 1079]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg	[env.py: 1082]
+05/13 22:04:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:04:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:04:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:04:05 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:04:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:04:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:04:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:04:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:04:09 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.938s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:04:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.720[m] 75.155[deg]	[grasp_sample.py: 539]
+05/13 22:04:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:04:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:04:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 21.338s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:04:14 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.676[m] 84.864[deg]	[grasp_sample.py: 539]
+05/13 22:04:16 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:04:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:04:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:04:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:04:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:04:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:04:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:04:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:04:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:04:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:04:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125615m	[env.py: 870]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:04:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90553907 -0.85294436 -0.12561513] yaw=-110.9deg	[env.py: 1019]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:04:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.4ms, total=238.4ms	[env.py: 1075]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.906, -0.853, -0.126)	[env.py: 1079]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -110.9 deg	[env.py: 1082]
+05/13 22:04:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m	[env.py: 1086]
+05/13 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:04:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:04:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:04:18 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:04:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:04:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:04:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:04:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:04:19 INFO: [Worker 0] Feasibility-checked 248 grasps in 0.985s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:04:19 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.659[m] 93.266[deg]	[grasp_sample.py: 539]
+05/13 22:04:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:04:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:04:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:04:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:04:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:04:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:04:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:04:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:04:49 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.401s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:04:49 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.533[m] 69.811[deg]	[grasp_sample.py: 539]
+05/13 22:04:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:04:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:04:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:04:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:04:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:05:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:05:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:05:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:05:05 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.279s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:05:05 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.533[m] 69.813[deg]	[grasp_sample.py: 539]
+05/13 22:05:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:05:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:05:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:05:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:05:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:05:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:17 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:05:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:05:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:05:21 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.727s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:05:21 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.533[m] 69.813[deg]	[grasp_sample.py: 539]
+05/13 22:05:21 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:05:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:05:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:05:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:05:34 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:05:35 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:05:35 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=7.09s:
+  episode_total: mean=30.70s, total=153.51s, count=5, min=3373.2ms, max=77189.1ms
+  sensor_polling: mean=399.1ms, total=27.53s, count=69, min=368.7ms, max=554.5ms
+  task_sampling: mean=1.42s, total=7.09s, count=5, min=490.8ms, max=4951.3ms
+  scene_load: mean=4.33s, total=4.33s, count=1, min=4328.2ms, max=4328.2ms
+  task_specific_sample: mean=547.8ms, total=2.74s, count=5, min=487.0ms, max=619.2ms
+  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2276.6ms, max=2276.6ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.2ms, max=1837.2ms
+  physics_step: mean=20.5ms, total=1.42s, count=69, min=14.6ms, max=28.9ms
+  compile_xml_load: mean=956.9ms, total=956.9ms, count=1, min=956.9ms, max=956.9ms
+  compile_mujoco: mean=760.3ms, total=760.3ms, count=1, min=760.3ms, max=760.3ms
+  scene_init: mean=148.1ms, total=148.1ms, count=1, min=148.1ms, max=148.1ms
+  compile_aux_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  compile_aux_policy_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_asset_install: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms
+  asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  scene_randomize: mean=2.0ms, total=10.2ms, count=5, min=1.3ms, max=2.5ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  mj_forward_sync: mean=469.9us, total=2.3ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:05:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:05:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:05:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:05:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:05:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:05:36 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 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106368m	[env.py: 870]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:05:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12585349 -1.23947874 -0.10636775] yaw=-17.4deg	[env.py: 1019]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.77511892 -0.82310898 -0.10636775] yaw=-73.0deg	[env.py: 1019]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:05:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.8ms, total=261.9ms	[env.py: 1075]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.239, -0.106)	[env.py: 1079]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.4 deg	[env.py: 1082]
+05/13 22:05:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:05:37 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:05:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:05:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:05:41 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:05:44 INFO: [Worker 0] Feasibility-checked 234 grasps in 7.236s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:05:44 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:05:46 INFO: [Worker 0] Worker 0 house 1 episode 2 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:05:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:05:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:05:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:05:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:05:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:05:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118964m	[env.py: 870]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:05:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03461561 -1.38049067 -0.11896383] yaw=-42.0deg	[env.py: 1019]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13441691 -1.16736808 -0.11896383] yaw=-42.6deg	[env.py: 1019]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 62.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32528785 -1.19969572 -0.11896383] yaw=-17.0deg	[env.py: 1019]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:05:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=127.7ms, total=127.8ms	[env.py: 1075]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.035, -1.380, -0.119)	[env.py: 1079]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg	[env.py: 1082]
+05/13 22:05:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:05:46 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:05:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:05:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:05:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.458s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:05:49 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:05:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:05:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:05:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:05:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:05:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:05:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:05:50 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 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133662m	[env.py: 870]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:05:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.7ms, total=223.7ms	[env.py: 1105]
+05/13 22:05:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:05:51 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:05:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:05:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:05:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:05:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:05:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:05:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135118m	[env.py: 870]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:05:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23212135 -0.93302513 -0.13511849] yaw=-26.2deg	[env.py: 1019]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:05:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.9ms, total=215.9ms	[env.py: 1075]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -0.933, -0.135)	[env.py: 1079]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.2 deg	[env.py: 1082]
+05/13 22:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:05:53 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:05:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:05:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:05:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.509s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:05:55 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:05:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:05:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:05:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:05:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:05:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:05:57 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 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145243m	[env.py: 870]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:05:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0753324  -1.3271899  -0.14524307] yaw=-39.9deg	[env.py: 1019]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:05:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=290.4ms, total=290.5ms	[env.py: 1075]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.327, -0.145)	[env.py: 1079]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg	[env.py: 1082]
+05/13 22:05:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m	[env.py: 1086]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:05:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:05:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:05:58 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:05:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:05:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:05:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:05:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:00 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.555s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:06:00 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:06:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199538m	[env.py: 870]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35664633 -0.91407297 -0.19953753] yaw=-64.9deg	[env.py: 1019]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63599712 -0.97325522 -0.19953753] yaw=-67.7deg	[env.py: 1019]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=292.3ms, total=292.3ms	[env.py: 1075]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -0.914, -0.200)	[env.py: 1079]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg	[env.py: 1082]
+05/13 22:06:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:02 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:04 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:06:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.583s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:06:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.736[m] 95.302[deg]	[grasp_sample.py: 539]
+05/13 22:06:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:06:05 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:06:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:06:05 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:06:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:06:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:06:11 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:06:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:06:11 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 22:06:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:06:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:06:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.70s (batch: 4.59s, save: 10.10s)	[pipeline.py: 300]
+05/13 22:06:21 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.91s:
+  episode_total: mean=204.16s, total=204.16s, count=1, min=204160.5ms, max=204160.5ms
+  sensor_polling: mean=416.0ms, total=109.00s, count=262, min=382.8ms, max=654.7ms
+  save_trajectories: mean=10.10s, total=10.10s, count=1, min=10103.3ms, max=10103.3ms
+  physics_step: mean=24.6ms, total=6.44s, count=262, min=17.5ms, max=93.3ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4594.2ms, max=4594.2ms
+  task_sampling: mean=3.90s, total=3.90s, count=1, min=3905.0ms, max=3905.0ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3266.1ms, max=3266.1ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1921.0ms, max=1921.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.1ms, max=1123.1ms
+  compile_mujoco: mean=713.4ms, total=713.4ms, count=1, min=713.4ms, max=713.4ms
+  task_specific_sample: mean=634.6ms, total=634.6ms, count=1, min=634.6ms, max=634.6ms
+  compile_xml_load: mean=277.4ms, total=277.4ms, count=1, min=277.4ms, max=277.4ms
+  scene_init: mean=157.9ms, total=157.9ms, count=1, min=157.9ms, max=157.9ms
+  compile_aux_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  compile_aux_policy_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  scene_asset_install: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
+  asset_install_grasps: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms
+  compile_robot_add: mean=17.8ms, total=17.8ms, count=1, min=17.8ms, max=17.8ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=587.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=90.3us, total=0.1ms, count=1, min=0.1ms, max=0.1ms	[profiler_utils.py: 380]
+05/13 22:06:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118197m	[env.py: 870]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.00936483 -1.3290288  -0.11819711] yaw=-42.4deg	[env.py: 1019]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 51.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32864451 -1.22480927 -0.11819711] yaw=-18.7deg	[env.py: 1019]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.81361074 -0.81737196 -0.11819711] yaw=-109.7deg	[env.py: 1019]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.5ms, total=190.5ms	[env.py: 1075]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.009, -1.329, -0.118)	[env.py: 1079]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg	[env.py: 1082]
+05/13 22:06:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m	[env.py: 1086]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:23 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:26 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.652s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:06:26 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:06:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:06:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:06:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.46s (batch: 4.16s, save: 10.30s)	[pipeline.py: 300]
+05/13 22:06:27 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=1.19s:
+  episode_total: mean=69.07s, total=207.21s, count=3, min=3507.7ms, max=161801.8ms
+  sensor_polling: mean=400.8ms, total=107.01s, count=267, min=352.4ms, max=687.2ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10303.3ms, max=10303.3ms
+  physics_step: mean=25.3ms, total=6.75s, count=267, min=17.1ms, max=32.1ms
+  save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4157.0ms, max=4157.0ms
+  task_sampling_failed: mean=3.51s, total=3.51s, count=1, min=3507.7ms, max=3507.7ms
+  scene_load: mean=3.24s, total=3.24s, count=1, min=3239.4ms, max=3239.4ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2038.8ms, max=2038.8ms
+  task_specific_sample: mean=481.9ms, total=1.45s, count=3, min=263.5ms, max=620.5ms
+  task_sampling: mean=594.6ms, total=1.19s, count=2, min=565.8ms, max=623.4ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  compile_mujoco: mean=650.7ms, total=650.7ms, count=1, min=650.7ms, max=650.7ms
+  compile_xml_load: mean=267.4ms, total=267.4ms, count=1, min=267.4ms, max=267.4ms
+  scene_init: mean=136.1ms, total=136.1ms, count=1, min=136.1ms, max=136.1ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_policy_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  asset_install_objects: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  compile_robot_add: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=511.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=32.8us, 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 22:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171878m	[env.py: 870]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1105]
+05/13 22:06:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:06:27 ERROR: [Worker 0] Worker 0 house 1 episode 2 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:06:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198314m	[env.py: 870]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.70740715 -0.80342214 -0.19831408] yaw=-53.6deg	[env.py: 1019]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38732124 -0.93743891 -0.19831408] yaw=-75.1deg	[env.py: 1019]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.344988   -0.86183468 -0.19831408] yaw=-45.2deg	[env.py: 1019]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.7ms	[env.py: 1075]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.707, -0.803, -0.198)	[env.py: 1079]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.6 deg	[env.py: 1082]
+05/13 22:06:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:29 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141784m	[env.py: 870]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.62355258 -0.95588687 -0.14178424] yaw=-41.7deg	[env.py: 1019]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.2ms, total=191.2ms	[env.py: 1075]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.956, -0.142)	[env.py: 1079]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.7 deg	[env.py: 1082]
+05/13 22:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m	[env.py: 1086]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.335s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:29 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:30 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:06:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:06:30 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 22:06:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.188s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:06:35 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.708[m] 93.663[deg]	[grasp_sample.py: 539]
+05/13 22:06:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.299s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:06:36 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.655[m] 83.603[deg]	[grasp_sample.py: 539]
+05/13 22:06:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:06:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:06:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:06:37 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:06:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162769m	[env.py: 870]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.772042   -0.69780207 -0.16276929] yaw=-76.7deg	[env.py: 1019]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03445044 -1.40070443 -0.16276929] yaw=-37.4deg	[env.py: 1019]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.417821   -1.06533716 -0.16276929] yaw=-36.0deg	[env.py: 1019]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.0ms, total=133.1ms	[env.py: 1075]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.772, -0.698, -0.163)	[env.py: 1079]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg	[env.py: 1082]
+05/13 22:06:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.048m	[env.py: 1086]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:38 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:41 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.528s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:06:41 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:06:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198194m	[env.py: 870]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=192.4ms, total=192.5ms	[env.py: 1105]
+05/13 22:06:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:06:43 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 22:06:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111021m	[env.py: 870]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -138.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=206.0ms, total=206.0ms	[env.py: 1105]
+05/13 22:06:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:06:45 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:06:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:06:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:06:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.92s (batch: 4.25s, save: 10.67s)	[pipeline.py: 300]
+05/13 22:06:46 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=6.16s:
+  episode_total: mean=56.70s, total=226.81s, count=4, min=3401.8ms, max=161429.0ms
+  sensor_polling: mean=379.3ms, total=105.82s, count=279, min=346.6ms, max=728.3ms
+  save_trajectories: mean=10.67s, total=10.67s, count=1, min=10669.4ms, max=10669.4ms
+  physics_step: mean=23.3ms, total=6.49s, count=279, min=16.5ms, max=60.2ms
+  task_sampling: mean=1.54s, total=6.16s, count=4, min=451.0ms, max=4719.5ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4250.5ms, max=4250.5ms
+  scene_load: mean=4.05s, total=4.05s, count=1, min=4047.9ms, max=4047.9ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms
+  task_specific_sample: mean=523.9ms, total=2.10s, count=4, min=448.4ms, max=666.6ms
+  scene_compile: mean=1.58s, total=1.58s, count=1, min=1580.6ms, max=1580.6ms
+  compile_mujoco: mean=783.5ms, total=783.5ms, count=1, min=783.5ms, max=783.5ms
+  compile_xml_load: mean=669.6ms, total=669.6ms, count=1, min=669.6ms, max=669.6ms
+  scene_init: mean=145.1ms, total=145.1ms, count=1, min=145.1ms, max=145.1ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  asset_install_grasps: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms
+  compile_robot_add: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
+  scene_randomize: mean=1.7ms, total=6.7ms, count=4, min=1.1ms, max=2.4ms
+  asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=444.7us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  policy_setup: mean=33.3us, total=0.1ms, count=4, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:06:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197009m	[env.py: 870]
+05/13 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 14.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.69836666 -0.71611652 -0.197009  ] yaw=-62.8deg	[env.py: 1019]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.7ms, total=232.7ms	[env.py: 1075]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.698, -0.716, -0.197)	[env.py: 1079]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg	[env.py: 1082]
+05/13 22:06:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 22:06:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:47 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106693m	[env.py: 870]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48332283 -0.82516926 -0.10669265] yaw=-86.8deg	[env.py: 1019]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28470388 -0.97032719 -0.10669265] yaw=-23.1deg	[env.py: 1019]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17585495 -1.32087325 -0.10669265] yaw=-44.7deg	[env.py: 1019]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.7ms, total=172.7ms	[env.py: 1075]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -0.825, -0.107)	[env.py: 1079]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.8 deg	[env.py: 1082]
+05/13 22:06:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:48 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:53 INFO: [Worker 0] Feasibility-checked 243 grasps in 4.499s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:06:53 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.751[m] 97.592[deg]	[grasp_sample.py: 539]
+05/13 22:06:54 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:06:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:06:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:06:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:06:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:06:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:06:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105060m	[env.py: 870]
+05/13 22:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:06:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11194456 -1.02784867 -0.10505993] yaw=-44.1deg	[env.py: 1019]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.51920515 -0.90249716 -0.10505993] yaw=-70.3deg	[env.py: 1019]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0405667  -1.17589951 -0.10505993] yaw=-34.2deg	[env.py: 1019]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=172.8ms, total=172.9ms	[env.py: 1075]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.028, -0.105)	[env.py: 1079]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg	[env.py: 1082]
+05/13 22:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 22:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:06:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:06:56 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:06:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:06:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:06:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:06:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.773s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:06:59 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:06:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 11.886s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:06:59 INFO: [Worker 0] Feasible grasp found 151 (originally 151): w/ 0.784[m] 94.348[deg]	[grasp_sample.py: 539]
+05/13 22:07:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:00 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 22:07:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195163m	[env.py: 870]
+05/13 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53840233 -0.73920459 -0.19516256] yaw=-61.6deg	[env.py: 1019]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:01 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -83.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.89522412 -0.78942223 -0.19516256] yaw=-113.6deg	[env.py: 1019]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44900569 -0.84333154 -0.19516256] yaw=-53.5deg	[env.py: 1019]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.2ms, total=197.2ms	[env.py: 1075]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.739, -0.195)	[env.py: 1079]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.6 deg	[env.py: 1082]
+05/13 22:07:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:01 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135289m	[env.py: 870]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -164.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=284.5ms, total=284.6ms	[env.py: 1105]
+05/13 22:07:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:07:03 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 22:07:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.662s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:07:04 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:07:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185635m	[env.py: 870]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.88985807 -0.64844273 -0.185635  ] yaw=-82.3deg	[env.py: 1019]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=212.2ms, total=212.3ms	[env.py: 1075]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.890, -0.648, -0.186)	[env.py: 1079]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.3 deg	[env.py: 1082]
+05/13 22:07:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m	[env.py: 1086]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:05 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:05 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:05 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 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137088m	[env.py: 870]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45862853 -0.85852591 -0.13708809] yaw=-40.6deg	[env.py: 1019]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1314542  -1.02573867 -0.13708809] yaw=-50.4deg	[env.py: 1019]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21058234 -1.08636121 -0.13708809] yaw=-28.6deg	[env.py: 1019]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.0ms, total=117.0ms	[env.py: 1075]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.459, -0.859, -0.137)	[env.py: 1079]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg	[env.py: 1082]
+05/13 22:07:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m	[env.py: 1086]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:06 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:07 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.590s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:07:07 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:07:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125060m	[env.py: 870]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0738203  -1.26207659 -0.12506044] yaw=-56.7deg	[env.py: 1019]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11467578 -1.32456791 -0.12506044] yaw=-7.5deg	[env.py: 1019]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26881779 -1.01743774 -0.12506044] yaw=-31.9deg	[env.py: 1019]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=211.0ms, total=211.0ms	[env.py: 1075]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.074, -1.262, -0.125)	[env.py: 1079]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.7 deg	[env.py: 1082]
+05/13 22:07:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:10 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.570s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:07:12 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:07:13 INFO: [Worker 0] Feasibility-checked 236 grasps in 7.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:13 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.787[m] 89.455[deg]	[grasp_sample.py: 539]
+05/13 22:07:14 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:07:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188218m	[env.py: 870]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16779658 -1.28746649 -0.18821773] yaw=-55.9deg	[env.py: 1019]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=370.8ms, total=370.9ms	[env.py: 1075]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.287, -0.188)	[env.py: 1079]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg	[env.py: 1082]
+05/13 22:07:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:14 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:07:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:14 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112009m	[env.py: 870]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24130892 -1.13755378 -0.11200855] yaw=-32.3deg	[env.py: 1019]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=369.2ms, total=369.3ms	[env.py: 1075]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.138, -0.112)	[env.py: 1079]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg	[env.py: 1082]
+05/13 22:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m	[env.py: 1086]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.882s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.677[m] 79.120[deg]	[grasp_sample.py: 539]
+05/13 22:07:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:17 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:18 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:18 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:07:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:07:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:07:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.185s, found 53 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185212m	[env.py: 870]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18367249 -1.41272987 -0.18521167] yaw=-47.6deg	[env.py: 1019]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.9ms, total=202.0ms	[env.py: 1075]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.184, -1.413, -0.185)	[env.py: 1079]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.6 deg	[env.py: 1082]
+05/13 22:07:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m	[env.py: 1086]
+05/13 22:07:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:20 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:22 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.431s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.649[m] 77.431[deg]	[grasp_sample.py: 539]
+05/13 22:07:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:07:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:07:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:22 INFO: [Worker 0] Feasibility-checked 53 grasps in 2.986s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:22 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.051[m] 5.055[deg]	[grasp_sample.py: 539]
+05/13 22:07:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:07:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:07:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:23 INFO: [Worker 0] Feasibility-checked 243 grasps in 6.225s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:23 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.687[m] 77.151[deg]	[grasp_sample.py: 539]
+05/13 22:07:25 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:07:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:07:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:07:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:07:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:07:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:07:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:07:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118078m	[env.py: 870]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:07:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.90970502 -0.88074184 -0.1180779 ] yaw=-80.1deg	[env.py: 1019]
+05/13 22:07:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:07:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=323.7ms, total=323.8ms	[env.py: 1075]
+05/13 22:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.910, -0.881, -0.118)	[env.py: 1079]
+05/13 22:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.1 deg	[env.py: 1082]
+05/13 22:07:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 22:07:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:07:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:07:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:07:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:07:27 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:07:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:07:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:07:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.977s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:07:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.664[m] 95.588[deg]	[grasp_sample.py: 539]
+05/13 22:07:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:07:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:07:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:37 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:07:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:07:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:07:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:07:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:07:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:07:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:07:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:08:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.824s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:08:00 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.511[m] 70.052[deg]	[grasp_sample.py: 539]
+05/13 22:08:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:08:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:08:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:08:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:08:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:08:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:08:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:08:16 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.663s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:08:16 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.511[m] 70.053[deg]	[grasp_sample.py: 539]
+05/13 22:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:08:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:08:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:20 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:08:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:08:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:08:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:08:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:08:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:08:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:08:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:33 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.203s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:08:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.511[m] 70.053[deg]	[grasp_sample.py: 539]
+05/13 22:08:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:08:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:08:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:37 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:08:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:08:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:08:46 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:08:47 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:08:47 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=3.08s:
+  episode_total: mean=18.55s, total=111.29s, count=6, min=3330.8ms, max=80370.2ms
+  sensor_polling: mean=379.7ms, total=27.72s, count=73, min=356.7ms, max=681.0ms
+  task_sampling: mean=513.0ms, total=3.08s, count=6, min=392.0ms, max=660.1ms
+  task_specific_sample: mean=509.5ms, total=3.06s, count=6, min=388.8ms, max=656.8ms
+  physics_step: mean=19.3ms, total=1.41s, count=73, min=14.4ms, max=23.0ms
+  scene_randomize: mean=1.9ms, total=11.6ms, count=6, min=1.2ms, max=2.9ms
+  mj_forward_sync: mean=478.0us, total=2.9ms, count=6, min=0.4ms, max=0.7ms
+  policy_setup: mean=21.6us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:08:47 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:08:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:08:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:08:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:08:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:08:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:08:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:08:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:08:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:08:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:08:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:08:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:08:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143344m	[env.py: 870]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:08:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=308.6ms, total=308.6ms	[env.py: 1105]
+05/13 22:08:48 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:08:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:08:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:08:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:08:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:08:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:08:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151889m	[env.py: 870]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42738971 -1.01495763 -0.15188863] yaw=-37.5deg	[env.py: 1019]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37148309 -1.10719795 -0.15188863] yaw=-56.9deg	[env.py: 1019]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81978222 -0.76278645 -0.15188863] yaw=-59.0deg	[env.py: 1019]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:08:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.8ms	[env.py: 1075]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.015, -0.152)	[env.py: 1079]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg	[env.py: 1082]
+05/13 22:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m	[env.py: 1086]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:08:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:08:51 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:08:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:08:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:08:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:08:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:08:56 INFO: [Worker 0] Feasibility-checked 238 grasps in 5.392s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:08:56 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.630[m] 78.065[deg]	[grasp_sample.py: 539]
+05/13 22:08:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:08:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:08:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:08:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:09:02 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:09:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:09:02 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:09:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:09:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:09:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.15s (batch: 4.61s, save: 11.54s)	[pipeline.py: 300]
+05/13 22:09:04 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=2.52s:
+  episode_total: mean=33.27s, total=199.64s, count=6, min=233.7ms, max=181794.6ms
+  sensor_polling: mean=403.9ms, total=121.18s, count=300, min=356.2ms, max=718.4ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11540.0ms, max=11540.0ms
+  physics_step: mean=25.1ms, total=7.54s, count=300, min=18.3ms, max=51.8ms
+  save_batch_prep: mean=4.61s, total=4.61s, count=1, min=4606.5ms, max=4606.5ms
+  task_specific_sample: mean=455.7ms, total=2.73s, count=6, min=229.2ms, max=565.0ms
+  task_sampling: mean=503.8ms, total=2.52s, count=5, min=395.6ms, max=567.8ms
+  task_sampling_failed: mean=233.7ms, total=233.7ms, count=1, min=233.7ms, max=233.7ms
+  scene_randomize: mean=1.3ms, total=7.7ms, count=6, min=1.1ms, max=1.8ms
+  mj_forward_sync: mean=459.4us, total=2.8ms, count=6, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:09:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:09:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:09:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:09:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:09:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:09:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:09:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135718m	[env.py: 870]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:09:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33696203 -1.13700225 -0.13571813] yaw=-38.3deg	[env.py: 1019]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.78151424 -0.69025575 -0.13571813] yaw=-88.9deg	[env.py: 1019]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05651826 -1.10982771 -0.13571813] yaw=-20.6deg	[env.py: 1019]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:09:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.6ms	[env.py: 1075]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.137, -0.136)	[env.py: 1079]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg	[env.py: 1082]
+05/13 22:09:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m	[env.py: 1086]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:09:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:09:06 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:09:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:09:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:09:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:09:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:09:09 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.806s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:09:09 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.648[m] 85.239[deg]	[grasp_sample.py: 539]
+05/13 22:09:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:09:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:09:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:09:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:09:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:09:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:09:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.27s (batch: 4.84s, save: 10.42s)	[pipeline.py: 300]
+05/13 22:09:18 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.92s:
+  episode_total: mean=57.58s, total=172.75s, count=3, min=204.3ms, max=169161.4ms
+  sensor_polling: mean=407.8ms, total=109.30s, count=268, min=374.4ms, max=796.8ms
+  save_trajectories: mean=10.42s, total=10.42s, count=1, min=10422.0ms, max=10422.0ms
+  physics_step: mean=24.0ms, total=6.43s, count=268, min=17.3ms, max=60.0ms
+  save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4844.7ms, max=4844.7ms
+  task_specific_sample: mean=370.7ms, total=1.11s, count=3, min=198.7ms, max=473.3ms
+  task_sampling: mean=459.9ms, total=919.9ms, count=2, min=442.4ms, max=477.5ms
+  task_sampling_failed: mean=204.3ms, total=204.3ms, count=1, min=204.3ms, max=204.3ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=442.4us, total=1.3ms, count=3, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:09:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:09:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:09:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:09:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:09:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:09:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:09:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:09:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113644m	[env.py: 870]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:09:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:09:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39007716 -0.9683832  -0.11364356] yaw=-47.3deg	[env.py: 1019]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:09:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=373.6ms, total=373.6ms	[env.py: 1075]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.968, -0.114)	[env.py: 1079]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg	[env.py: 1082]
+05/13 22:09:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 22:09:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:09:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:09:20 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:09:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:09:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:09:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:09:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:09:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.654s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:09:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.728[m] 93.862[deg]	[grasp_sample.py: 539]
+05/13 22:09:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:09:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:09:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:09:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:09:43 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:09:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:09:43 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 22:09:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:09:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:09:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:09:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:09:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.24s (batch: 4.13s, save: 10.12s)	[pipeline.py: 300]
+05/13 22:09:58 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=3.49s:
+  episode_total: mean=19.54s, total=195.41s, count=10, min=203.3ms, max=158227.3ms
+  sensor_polling: mean=405.3ms, total=107.40s, count=265, min=362.2ms, max=750.3ms
+  save_trajectories: mean=10.12s, total=10.12s, count=1, min=10115.3ms, max=10115.3ms
+  physics_step: mean=26.6ms, total=7.04s, count=265, min=17.0ms, max=57.7ms
+  task_specific_sample: mean=417.1ms, total=4.17s, count=10, min=198.7ms, max=665.9ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4126.0ms, max=4126.0ms
+  task_sampling: mean=499.0ms, total=3.49s, count=7, min=373.2ms, max=669.3ms
+  task_sampling_failed: mean=239.1ms, total=717.4ms, count=3, min=203.2ms, max=297.3ms
+  scene_randomize: mean=1.9ms, total=19.4ms, count=10, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=545.9us, total=5.5ms, count=10, min=0.4ms, max=0.8ms
+  policy_setup: mean=17.8us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:09:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:09:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:09:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:09:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:09:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:09:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:09:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:09:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122237m	[env.py: 870]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:09:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27172519 -1.14803392 -0.12223741] yaw=-58.5deg	[env.py: 1019]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20369959 -1.4225301  -0.12223741] yaw=-20.9deg	[env.py: 1019]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:09:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.8ms	[env.py: 1075]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.272, -1.148, -0.122)	[env.py: 1079]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/13 22:09:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.894m	[env.py: 1086]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:09:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:10:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:10:00 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:10:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:10:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:10:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:10:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:10:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:10:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.100s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:10:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.701[m] 90.375[deg]	[grasp_sample.py: 539]
+05/13 22:10:03 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:10:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:10:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:10:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:10:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:10:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:10:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:10:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146783m	[env.py: 870]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:10:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31483501 -1.23611277 -0.14678271] yaw=-34.8deg	[env.py: 1019]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:10:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=211.9ms, total=211.9ms	[env.py: 1075]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.315, -1.236, -0.147)	[env.py: 1079]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 22:10:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m	[env.py: 1086]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:10:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:10:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:10:05 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:10:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:10:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:10:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:10:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:10:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.866s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:10:07 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.556[m] 80.609[deg]	[grasp_sample.py: 539]
+05/13 22:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:10:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:10:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:10:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:10:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:10:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:10:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:10:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:10:45 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:11:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:11:06 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:11:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:11:14 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:11:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:11:14 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:11:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:11:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:11:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.14s (batch: 6.21s, save: 9.94s)	[pipeline.py: 300]
+05/13 22:11:31 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:11:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:11:31 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:11:31 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.42s:
+  episode_total: mean=80.55s, total=161.11s, count=2, min=319.7ms, max=160788.1ms
+  sensor_polling: mean=382.8ms, total=100.28s, count=262, min=353.5ms, max=710.9ms
+  save_trajectories: mean=9.94s, total=9.94s, count=1, min=9936.9ms, max=9936.9ms
+  physics_step: mean=23.9ms, total=6.25s, count=262, min=17.0ms, max=31.9ms
+  save_batch_prep: mean=6.21s, total=6.21s, count=1, min=6207.7ms, max=6207.7ms
+  task_specific_sample: mean=365.4ms, total=730.8ms, count=2, min=314.8ms, max=416.0ms
+  task_sampling: mean=419.4ms, total=419.4ms, count=1, min=419.4ms, max=419.4ms
+  task_sampling_failed: mean=319.7ms, total=319.7ms, count=1, min=319.7ms, max=319.7ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.2ms
+  mj_forward_sync: mean=441.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:11:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:11:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:11:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:11:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:11:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:11:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:11:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115293m	[env.py: 870]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:11:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66400933 -0.83226617 -0.11529328] yaw=-64.8deg	[env.py: 1019]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49172482 -0.87086626 -0.11529328] yaw=-76.0deg	[env.py: 1019]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:11:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=422.8ms, total=422.8ms	[env.py: 1075]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.664, -0.832, -0.115)	[env.py: 1079]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.8 deg	[env.py: 1082]
+05/13 22:11:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:11:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:11:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:11:33 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:11:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:11:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:11:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:11:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:11:36 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:11:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.013s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:11:40 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.715[m] 91.519[deg]	[grasp_sample.py: 539]
+05/13 22:11:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:11:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:11:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:11:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:11:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:11:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:11:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.34s (batch: 4.45s, save: 9.89s)	[pipeline.py: 300]
+05/13 22:11:46 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.48s:
+  episode_total: mean=160.68s, total=160.68s, count=1, min=160681.0ms, max=160681.0ms
+  sensor_polling: mean=409.6ms, total=107.71s, count=263, min=358.1ms, max=742.7ms
+  save_trajectories: mean=9.89s, total=9.89s, count=1, min=9891.4ms, max=9891.4ms
+  physics_step: mean=26.3ms, total=6.91s, count=263, min=16.5ms, max=34.2ms
+  save_batch_prep: mean=4.45s, total=4.45s, count=1, min=4446.0ms, max=4446.0ms
+  task_sampling: mean=483.5ms, total=483.5ms, count=1, min=483.5ms, max=483.5ms
+  task_specific_sample: mean=479.6ms, total=479.6ms, count=1, min=479.6ms, max=479.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=439.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 22:11:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:11:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:11:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:11:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:11:47 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 22:11:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:11:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145381m	[env.py: 870]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:11:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34240723 -1.00723301 -0.14538088] yaw=-74.6deg	[env.py: 1019]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.24665408 -1.33799878 -0.14538088] yaw=-48.7deg	[env.py: 1019]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:11:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.7ms, total=218.7ms	[env.py: 1075]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.342, -1.007, -0.145)	[env.py: 1079]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.6 deg	[env.py: 1082]
+05/13 22:11:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:11:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:11:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:11:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:11:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:11:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:11:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:11:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:11:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.048s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:11:56 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.766[m] 95.726[deg]	[grasp_sample.py: 539]
+05/13 22:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:11:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:11:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:11:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:12:01 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:12:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:12:01 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/13 22:12:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:12:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:12:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.83s (batch: 4.95s, save: 10.87s)	[pipeline.py: 300]
+05/13 22:12:18 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.67s:
+  episode_total: mean=178.60s, total=178.60s, count=1, min=178603.0ms, max=178603.0ms
+  sensor_polling: mean=417.6ms, total=118.18s, count=283, min=360.3ms, max=778.0ms
+  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10874.5ms, max=10874.5ms
+  physics_step: mean=24.5ms, total=6.95s, count=283, min=16.7ms, max=37.5ms
+  save_batch_prep: mean=4.95s, total=4.95s, count=1, min=4952.0ms, max=4952.0ms
+  task_sampling: mean=674.9ms, total=674.9ms, count=1, min=674.9ms, max=674.9ms
+  task_specific_sample: mean=669.4ms, total=669.4ms, count=1, min=669.4ms, max=669.4ms
+  scene_randomize: mean=4.0ms, total=4.0ms, count=1, min=4.0ms, max=4.0ms
+  mj_forward_sync: mean=517.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=32.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:12:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122340m	[env.py: 870]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54143726 -0.81063113 -0.12233999] yaw=-84.3deg	[env.py: 1019]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.03727613 -1.24643878 -0.12233999] yaw=-45.5deg	[env.py: 1019]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.2ms, total=240.3ms	[env.py: 1075]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.811, -0.122)	[env.py: 1079]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.3 deg	[env.py: 1082]
+05/13 22:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 22:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:20 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:21 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:12:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:12:21 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/13 22:12:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:12:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:12:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.32s (batch: 4.15s, save: 9.17s)	[pipeline.py: 300]
+05/13 22:12:35 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.02s:
+  episode_total: mean=77.03s, total=154.06s, count=2, min=4193.9ms, max=149861.9ms
+  sensor_polling: mean=412.6ms, total=101.08s, count=245, min=365.7ms, max=759.4ms
+  save_trajectories: mean=9.17s, total=9.17s, count=1, min=9167.7ms, max=9167.7ms
+  physics_step: mean=26.2ms, total=6.41s, count=245, min=21.5ms, max=38.8ms
+  save_batch_prep: mean=4.15s, total=4.15s, count=1, min=4154.2ms, max=4154.2ms
+  task_sampling: mean=508.0ms, total=1.02s, count=2, min=493.1ms, max=522.9ms
+  task_specific_sample: mean=504.1ms, total=1.01s, count=2, min=489.6ms, max=518.7ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.5ms, max=2.8ms
+  mj_forward_sync: mean=430.4us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=30.5us, 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 22:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122435m	[env.py: 870]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59290695 -0.8309546  -0.12243541] yaw=-76.2deg	[env.py: 1019]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=217.4ms, total=217.4ms	[env.py: 1075]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.593, -0.831, -0.122)	[env.py: 1079]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg	[env.py: 1082]
+05/13 22:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m	[env.py: 1086]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:37 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:12:41 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.981s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:12:41 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.717[m] 97.415[deg]	[grasp_sample.py: 539]
+05/13 22:12:42 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:12:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 23.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:12:43 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.786[m] 99.255[deg]	[grasp_sample.py: 539]
+05/13 22:12:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:44 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 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100285m	[env.py: 870]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=274.6ms, total=274.7ms	[env.py: 1105]
+05/13 22:12:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:12:44 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 22:12:45 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:45 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 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162077m	[env.py: 870]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51852747 -0.7654267  -0.1620773 ] yaw=-91.6deg	[env.py: 1019]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=269.4ms, total=269.4ms	[env.py: 1075]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.519, -0.765, -0.162)	[env.py: 1079]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.6 deg	[env.py: 1082]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m	[env.py: 1086]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:46 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 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102481m	[env.py: 870]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -125.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44466272 -0.79395997 -0.10248064] yaw=-75.5deg	[env.py: 1019]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=217.3ms, total=217.4ms	[env.py: 1075]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.445, -0.794, -0.102)	[env.py: 1079]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.5 deg	[env.py: 1082]
+05/13 22:12:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m	[env.py: 1086]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:47 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.866s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:12:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:50 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.772s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:12:50 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189285m	[env.py: 870]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29480381 -1.08509578 -0.18928517] yaw=-55.5deg	[env.py: 1019]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.8ms, total=205.8ms	[env.py: 1075]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.295, -1.085, -0.189)	[env.py: 1079]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg	[env.py: 1082]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m	[env.py: 1086]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:51 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162985m	[env.py: 870]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41801972 -0.85139917 -0.16298473] yaw=-36.4deg	[env.py: 1019]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.32170106 -1.11218442 -0.16298473] yaw=-35.6deg	[env.py: 1019]
+05/13 22:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.77305589 -0.74645873 -0.16298473] yaw=-74.5deg	[env.py: 1019]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=218.6ms, total=218.7ms	[env.py: 1075]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.851, -0.163)	[env.py: 1079]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg	[env.py: 1082]
+05/13 22:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/13 22:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:12:52 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.507s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:12:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.650[m] 91.980[deg]	[grasp_sample.py: 539]
+05/13 22:12:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:12:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:12:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:12:55 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 22:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:56 INFO: [Worker 0] Feasibility-checked 235 grasps in 4.096s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:12:56 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.760[m] 78.515[deg]	[grasp_sample.py: 539]
+05/13 22:12:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:12:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:12:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:12:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:12:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:12:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 130 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:12:57 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:12:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:12:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:12:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:12:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:12:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:12:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:12:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182258m	[env.py: 870]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:12:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58489935 -0.87950972 -0.18225776] yaw=-78.4deg	[env.py: 1019]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17674975 -0.96231737 -0.18225776] yaw=-20.9deg	[env.py: 1019]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:12:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=439.9ms, total=439.9ms	[env.py: 1075]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.880, -0.182)	[env.py: 1079]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.4 deg	[env.py: 1082]
+05/13 22:12:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m	[env.py: 1086]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:12:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:00 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:05 INFO: [Worker 0] Feasibility-checked 130 grasps in 7.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:05 INFO: [Worker 0] Feasible grasp found 89 (originally 89): w/ 0.039[m] 7.509[deg]	[grasp_sample.py: 539]
+05/13 22:13:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:13:06 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:13:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150803m	[env.py: 870]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -110.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00962746 -1.32671747 -0.15080252] yaw=5.3deg	[env.py: 1019]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=473.5ms, total=473.5ms	[env.py: 1075]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.010, -1.327, -0.151)	[env.py: 1079]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 5.3 deg	[env.py: 1082]
+05/13 22:13:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m	[env.py: 1086]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:08 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:13:11 INFO: [Worker 0] Feasibility-checked 227 grasps in 2.749s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:13:11 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:13:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 12.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:13 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.630[m] 90.171[deg]	[grasp_sample.py: 539]
+05/13 22:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116146m	[env.py: 870]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.68347367 -0.73762942 -0.11614578] yaw=-68.5deg	[env.py: 1019]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.68846966 -0.71936944 -0.11614578] yaw=-75.8deg	[env.py: 1019]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.38680889 -0.8364316  -0.11614578] yaw=-36.2deg	[env.py: 1019]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=200.5ms, total=200.6ms	[env.py: 1075]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.683, -0.738, -0.116)	[env.py: 1079]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg	[env.py: 1082]
+05/13 22:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.029m	[env.py: 1086]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:13 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:14 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:13:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159412m	[env.py: 870]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49408222 -0.95771601 -0.15941234] yaw=-36.6deg	[env.py: 1019]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24428563 -0.92976615 -0.15941234] yaw=-55.0deg	[env.py: 1019]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.31778372 -1.08727477 -0.15941234] yaw=-30.7deg	[env.py: 1019]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.8ms, total=198.9ms	[env.py: 1075]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.958, -0.159)	[env.py: 1079]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.6 deg	[env.py: 1082]
+05/13 22:13:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m	[env.py: 1086]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 14.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:28 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:13:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115910m	[env.py: 870]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -157.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81699992 -0.92432172 -0.11590966] yaw=-69.5deg	[env.py: 1019]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.09607577 -1.30346413 -0.11590966] yaw=-42.6deg	[env.py: 1019]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.4ms, total=208.5ms	[env.py: 1075]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.817, -0.924, -0.116)	[env.py: 1079]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg	[env.py: 1082]
+05/13 22:13:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:30 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.048s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:31 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.605[m] 90.621[deg]	[grasp_sample.py: 539]
+05/13 22:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:13:33 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 22:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190664m	[env.py: 870]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.06618369 -1.23037854 -0.19066439] yaw=-39.7deg	[env.py: 1019]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 49.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23593153 -1.17295611 -0.19066439] yaw=-39.5deg	[env.py: 1019]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16087749 -1.29056567 -0.19066439] yaw=-43.6deg	[env.py: 1019]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=117.8ms, total=117.8ms	[env.py: 1075]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.230, -0.191)	[env.py: 1079]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg	[env.py: 1082]
+05/13 22:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m	[env.py: 1086]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:34 INFO: [Worker 0] Feasibility-checked 244 grasps in 17.873s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:34 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.696[m] 81.043[deg]	[grasp_sample.py: 539]
+05/13 22:13:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:34 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:13:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:13:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.611s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:13:37 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:13:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160374m	[env.py: 870]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.64877651 -0.7869365  -0.16037394] yaw=-61.9deg	[env.py: 1019]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39292827 -0.81448413 -0.16037394] yaw=-67.9deg	[env.py: 1019]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.3ms, total=210.4ms	[env.py: 1075]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.787, -0.160)	[env.py: 1079]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg	[env.py: 1082]
+05/13 22:13:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m	[env.py: 1086]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:39 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:13:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.412s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:47 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.721[m] 85.676[deg]	[grasp_sample.py: 539]
+05/13 22:13:48 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:13:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180806m	[env.py: 870]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29340207 -1.16125328 -0.18080554] yaw=-58.3deg	[env.py: 1019]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.76202899 -0.73061303 -0.18080554] yaw=-71.2deg	[env.py: 1019]
+05/13 22:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47930868 -0.93026976 -0.18080554] yaw=-79.2deg	[env.py: 1019]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.2ms, total=192.3ms	[env.py: 1075]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.161, -0.181)	[env.py: 1079]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg	[env.py: 1082]
+05/13 22:13:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:50 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:52 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.244s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:52 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.616[m] 79.535[deg]	[grasp_sample.py: 539]
+05/13 22:13:53 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:13:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:13:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:13:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:13:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:13:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:13:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182267m	[env.py: 870]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:13:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:13:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.9148691  -0.92106812 -0.18226724] yaw=-94.6deg	[env.py: 1019]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:13:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=202.6ms, total=202.7ms	[env.py: 1075]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.915, -0.921, -0.182)	[env.py: 1079]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -94.6 deg	[env.py: 1082]
+05/13 22:13:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:13:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:13:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:13:55 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:13:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:13:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:13:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:13:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:13:57 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.190s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:13:57 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.575[m] 98.367[deg]	[grasp_sample.py: 539]
+05/13 22:13:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:13:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:13:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:13:58 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:13:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:03 INFO: [Worker 0] Object is not in grasp! 0.00115 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:14:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:14:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:14:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:14:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.184s, found 100 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:14:04 INFO: [Worker 0] Feasibility-checked 100 grasps in 0.680s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:14:04 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.273[deg]	[grasp_sample.py: 539]
+05/13 22:14:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:14:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:14:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:14:25 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:14:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:14:25 INFO: [Worker 0] Preparing episode data: 284 timesteps	[save_utils.py: 278]
+05/13 22:14:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:14:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:14:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:14:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:14:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:14:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:14:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.51s (batch: 4.24s, save: 10.27s)	[pipeline.py: 300]
+05/13 22:14:40 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.55s:
+  episode_total: mean=172.75s, total=172.75s, count=1, min=172746.7ms, max=172746.7ms
+  sensor_polling: mean=396.7ms, total=112.27s, count=283, min=356.1ms, max=790.1ms
+  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10266.6ms, max=10266.6ms
+  physics_step: mean=25.2ms, total=7.12s, count=283, min=17.2ms, max=56.0ms
+  save_batch_prep: mean=4.24s, total=4.24s, count=1, min=4243.7ms, max=4243.7ms
+  task_sampling: mean=551.6ms, total=551.6ms, count=1, min=551.6ms, max=551.6ms
+  task_specific_sample: mean=547.5ms, total=547.5ms, count=1, min=547.5ms, max=547.5ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=440.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.0us, 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 22:14:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:14:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:14:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:14:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:14:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:14:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:14:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196860m	[env.py: 870]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:14:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42531411 -1.02402224 -0.19685984] yaw=-53.0deg	[env.py: 1019]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19618057 -1.35940425 -0.19685984] yaw=-44.4deg	[env.py: 1019]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6113344  -0.89261379 -0.19685984] yaw=-84.4deg	[env.py: 1019]
+05/13 22:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:14:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.7ms, total=223.8ms	[env.py: 1075]
+05/13 22:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -1.024, -0.197)	[env.py: 1079]
+05/13 22:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg	[env.py: 1082]
+05/13 22:14:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 22:14:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:14:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:14:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:14:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:14:42 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:14:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:14:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:14:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:14:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:14:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:14:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.578[m] 81.270[deg]	[grasp_sample.py: 539]
+05/13 22:14:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:14:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:14:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:14:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:14:46 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:14:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:15:07 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:15:17 INFO: [Worker 0] Feasibility-checked 233 grasps in 41.689s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:15:17 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.326[m] 56.088[deg]	[grasp_sample.py: 539]
+05/13 22:15:18 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:15:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:20 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 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131723m	[env.py: 870]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 171.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19923449 -1.40822053 -0.13172313] yaw=-21.0deg	[env.py: 1019]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35416688 -0.89215863 -0.13172313] yaw=-56.4deg	[env.py: 1019]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=218.3ms, total=218.4ms	[env.py: 1075]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.408, -0.132)	[env.py: 1079]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.0 deg	[env.py: 1082]
+05/13 22:15:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:20 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:15:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:15:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:15:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:15:25 INFO: [Worker 0] Feasibility-checked 231 grasps in 4.549s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:15:25 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.574[m] 81.428[deg]	[grasp_sample.py: 539]
+05/13 22:15:26 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:15:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120294m	[env.py: 870]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.28927194 -0.9569848  -0.12029374] yaw=-58.8deg	[env.py: 1019]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44081112 -0.78815154 -0.12029374] yaw=-73.1deg	[env.py: 1019]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31560772 -1.17848895 -0.12029374] yaw=-52.3deg	[env.py: 1019]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=253.5ms, total=253.6ms	[env.py: 1075]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -0.957, -0.120)	[env.py: 1079]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.8 deg	[env.py: 1082]
+05/13 22:15:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:29 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:15:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:15:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:15:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:15:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:15:36 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:15:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:15:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:15:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 7.436s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:15:37 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:15:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138256m	[env.py: 870]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.4ms, total=237.5ms	[env.py: 1105]
+05/13 22:15:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:15:40 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:15:41 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:15:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110538m	[env.py: 870]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79696976 -0.76062472 -0.11053777] yaw=-91.3deg	[env.py: 1019]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80498463 -0.75049503 -0.11053777] yaw=-96.2deg	[env.py: 1019]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.1ms, total=253.2ms	[env.py: 1075]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.797, -0.761, -0.111)	[env.py: 1079]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.3 deg	[env.py: 1082]
+05/13 22:15:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:43 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:15:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:15:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:15:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:15:44 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:15:45 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:15:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:15:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:15:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.65s (batch: 4.59s, save: 11.06s)	[pipeline.py: 300]
+05/13 22:15:52 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.56s:
+  episode_total: mean=47.94s, total=191.76s, count=4, min=287.8ms, max=181752.5ms
+  sensor_polling: mean=405.5ms, total=121.65s, count=300, min=359.7ms, max=775.0ms
+  save_trajectories: mean=11.06s, total=11.06s, count=1, min=11057.4ms, max=11057.4ms
+  physics_step: mean=25.8ms, total=7.74s, count=300, min=18.6ms, max=35.5ms
+  save_batch_prep: mean=4.59s, total=4.59s, count=1, min=4588.8ms, max=4588.8ms
+  task_specific_sample: mean=456.8ms, total=1.83s, count=4, min=280.9ms, max=546.0ms
+  task_sampling: mean=518.6ms, total=1.56s, count=3, min=480.5ms, max=548.6ms
+  task_sampling_failed: mean=287.8ms, total=287.8ms, count=1, min=287.8ms, max=287.8ms
+  scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=449.7us, total=1.8ms, count=4, min=0.4ms, max=0.5ms
+  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=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:15:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:15:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:15:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:15:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:15:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:15:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111546m	[env.py: 870]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:15:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35026942 -0.98712205 -0.1115459 ] yaw=-28.8deg	[env.py: 1019]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.61302264 -0.79340909 -0.1115459 ] yaw=-92.8deg	[env.py: 1019]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:15:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.0ms, total=228.0ms	[env.py: 1075]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -0.987, -0.112)	[env.py: 1079]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.8 deg	[env.py: 1082]
+05/13 22:15:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:15:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:15:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:15:54 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:15:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:15:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:15:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:15:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:15:58 INFO: [Worker 0] Feasibility-checked 246 grasps in 15.086s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:15:58 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.750[m] 101.423[deg]	[grasp_sample.py: 539]
+05/13 22:15:59 INFO: [Worker 0] Feasibility-checked 237 grasps in 4.202s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:15:59 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.753[m] 93.859[deg]	[grasp_sample.py: 539]
+05/13 22:16:00 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:00 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:00 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 22:16:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143399m	[env.py: 870]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31256342 -1.20600486 -0.14339907] yaw=-43.7deg	[env.py: 1019]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=321.1ms, total=321.1ms	[env.py: 1075]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -1.206, -0.143)	[env.py: 1079]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg	[env.py: 1082]
+05/13 22:16:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:02 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116463m	[env.py: 870]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01497273 -1.25910281 -0.11646329] yaw=-51.1deg	[env.py: 1019]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=282.6ms, total=282.6ms	[env.py: 1075]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.015, -1.259, -0.116)	[env.py: 1079]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg	[env.py: 1082]
+05/13 22:16:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m	[env.py: 1086]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:02 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.222s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:04 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.578[m] 86.934[deg]	[grasp_sample.py: 539]
+05/13 22:16:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.570s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:16:05 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:16:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:16:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180883m	[env.py: 870]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42563241 -1.1211294  -0.1808831 ] yaw=-39.5deg	[env.py: 1019]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=725.8ms, total=725.8ms	[env.py: 1075]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.426, -1.121, -0.181)	[env.py: 1079]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.5 deg	[env.py: 1082]
+05/13 22:16:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:08 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.548[m] 84.445[deg]	[grasp_sample.py: 539]
+05/13 22:16:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:09 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:16:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:16:09 INFO: [Worker 0] Preparing episode data: 276 timesteps	[save_utils.py: 278]
+05/13 22:16:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:16:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:16:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:16:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.06s (batch: 4.07s, save: 9.99s)	[pipeline.py: 300]
+05/13 22:16:24 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=2.75s:
+  episode_total: mean=47.64s, total=238.20s, count=5, min=3518.8ms, max=188148.9ms
+  sensor_polling: mean=433.3ms, total=119.17s, count=275, min=385.3ms, max=792.5ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9986.1ms, max=9986.1ms
+  physics_step: mean=26.3ms, total=7.23s, count=275, min=21.4ms, max=34.6ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4070.3ms, max=4070.3ms
+  task_sampling: mean=549.4ms, total=2.75s, count=5, min=455.8ms, max=754.8ms
+  task_specific_sample: mean=545.7ms, total=2.73s, count=5, min=452.9ms, max=751.2ms
+  scene_randomize: mean=1.9ms, total=9.7ms, count=5, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=554.0us, total=2.8ms, count=5, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:16:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190624m	[env.py: 870]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=212.1ms, total=212.2ms	[env.py: 1105]
+05/13 22:16:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:16:25 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 22:16:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197292m	[env.py: 870]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83509502 -0.68579036 -0.19729194] yaw=-85.7deg	[env.py: 1019]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=319.4ms, total=319.4ms	[env.py: 1075]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.835, -0.686, -0.197)	[env.py: 1079]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.7 deg	[env.py: 1082]
+05/13 22:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:27 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:30 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.601s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:16:30 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:16:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142296m	[env.py: 870]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.83252457 -0.73177922 -0.14229564] yaw=-107.9deg	[env.py: 1019]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.33409008 -0.91470224 -0.14229564] yaw=-52.7deg	[env.py: 1019]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=269.1ms, total=269.2ms	[env.py: 1075]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.833, -0.732, -0.142)	[env.py: 1079]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.9 deg	[env.py: 1082]
+05/13 22:16:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:32 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:33 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:16:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:51 INFO: [Worker 0] Feasibility-checked 248 grasps in 18.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:51 INFO: [Worker 0] Feasible grasp found 478 (originally 171): w/ 0.787[m] 92.268[deg]	[grasp_sample.py: 539]
+05/13 22:16:52 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:16:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:16:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:16:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:16:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:16:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:16:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154781m	[env.py: 870]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:16:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83406735 -0.91594173 -0.15478098] yaw=-72.7deg	[env.py: 1019]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35211359 -1.07774506 -0.15478098] yaw=-55.3deg	[env.py: 1019]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:16:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=278.5ms, total=278.5ms	[env.py: 1075]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.834, -0.916, -0.155)	[env.py: 1079]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg	[env.py: 1082]
+05/13 22:16:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:16:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:16:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:16:54 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:16:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:16:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:16:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:16:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:16:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:16:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:16:55 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 22:16:56 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.096s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:16:56 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.601[m] 100.168[deg]	[grasp_sample.py: 539]
+05/13 22:16:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:16:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:16:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:16:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:17:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:17:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:17:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.20s (batch: 4.02s, save: 9.18s)	[pipeline.py: 300]
+05/13 22:17:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:17:09 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.53s:
+  episode_total: mean=148.00s, total=148.00s, count=1, min=147998.0ms, max=147998.0ms
+  sensor_polling: mean=393.8ms, total=97.66s, count=248, min=353.6ms, max=826.4ms
+  save_trajectories: mean=9.18s, total=9.18s, count=1, min=9178.2ms, max=9178.2ms
+  physics_step: mean=24.9ms, total=6.19s, count=248, min=16.9ms, max=95.8ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4024.8ms, max=4024.8ms
+  task_sampling: mean=525.7ms, total=525.7ms, count=1, min=525.7ms, max=525.7ms
+  task_specific_sample: mean=521.5ms, total=521.5ms, count=1, min=521.5ms, max=521.5ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=452.0us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:17:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:17:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:17:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:17:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:17:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:17:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:17:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192484m	[env.py: 870]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:17:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.24032104 -1.17951357 -0.19248402] yaw=-24.0deg	[env.py: 1019]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26809624 -1.00523338 -0.19248402] yaw=-44.3deg	[env.py: 1019]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:17:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms	[env.py: 1075]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.180, -0.192)	[env.py: 1079]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.0 deg	[env.py: 1082]
+05/13 22:17:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m	[env.py: 1086]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:17:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:17:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:17:11 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:17:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:17:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:17:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:13 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:16 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.975s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:16 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.631[m] 78.248[deg]	[grasp_sample.py: 539]
+05/13 22:17:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:17:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.170s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.459[m] 69.952[deg]	[grasp_sample.py: 539]
+05/13 22:17:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:17:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:43 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.459[m] 69.952[deg]	[grasp_sample.py: 539]
+05/13 22:17:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:17:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:17:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:17:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:48 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:17:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:17:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:17:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:17:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:17:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:17:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:17:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.425s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:17:59 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.459[m] 69.952[deg]	[grasp_sample.py: 539]
+05/13 22:18:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:00 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:18:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:18:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:18:12 INFO: [Worker 0] Preparing episode data: 250 timesteps	[save_utils.py: 278]
+05/13 22:18:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:18:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:18:14 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:18:14 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:18:14 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=1.71s:
+  episode_total: mean=26.18s, total=104.71s, count=4, min=224.9ms, max=80292.3ms
+  sensor_polling: mean=417.0ms, total=30.03s, count=72, min=380.0ms, max=743.3ms
+  task_specific_sample: mean=479.3ms, total=1.92s, count=4, min=218.9ms, max=630.0ms
+  task_sampling: mean=569.4ms, total=1.71s, count=3, min=527.2ms, max=633.7ms
+  physics_step: mean=20.9ms, total=1.51s, count=72, min=14.3ms, max=29.4ms
+  task_sampling_failed: mean=224.9ms, total=224.9ms, count=1, min=224.9ms, max=224.9ms
+  scene_randomize: mean=1.6ms, total=6.5ms, count=4, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=432.7us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:18:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:18:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:18:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176343m	[env.py: 870]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.84579675 -0.82283817 -0.17634323] yaw=-76.3deg	[env.py: 1019]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6582945  -0.81394895 -0.17634323] yaw=-65.8deg	[env.py: 1019]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.9ms, total=245.9ms	[env.py: 1075]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.846, -0.823, -0.176)	[env.py: 1079]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg	[env.py: 1082]
+05/13 22:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m	[env.py: 1086]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:16 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:18:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.509s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.644[m] 85.209[deg]	[grasp_sample.py: 539]
+05/13 22:18:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:23 INFO: [Worker 0] Object is not in grasp! 0.00185 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:18:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:18:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:18:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.176s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:24 INFO: [Worker 0] Feasibility-checked 74 grasps in 0.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:24 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 1.763[deg]	[grasp_sample.py: 539]
+05/13 22:18:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:25 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:18:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:18:25 INFO: [Worker 0] Preparing episode data: 246 timesteps	[save_utils.py: 278]
+05/13 22:18:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:18:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:18:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.79s (batch: 4.25s, save: 9.54s)	[pipeline.py: 300]
+05/13 22:18:27 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=6.28s:
+  episode_total: mean=30.27s, total=393.49s, count=13, min=250.3ms, max=145797.5ms
+  sensor_polling: mean=384.6ms, total=178.83s, count=465, min=345.6ms, max=819.4ms
+  physics_step: mean=23.3ms, total=10.83s, count=465, min=16.5ms, max=35.5ms
+  save_trajectories: mean=9.54s, total=9.54s, count=1, min=9536.8ms, max=9536.8ms
+  task_specific_sample: mean=499.0ms, total=6.49s, count=13, min=245.2ms, max=785.3ms
+  task_sampling: mean=523.2ms, total=6.28s, count=12, min=357.1ms, max=788.9ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4248.8ms, max=4248.8ms
+  task_sampling_failed: mean=250.3ms, total=250.3ms, count=1, min=250.3ms, max=250.3ms
+  scene_randomize: mean=1.4ms, total=18.0ms, count=13, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=438.2us, total=5.7ms, count=13, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.8us, total=0.2ms, count=12, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=13, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:18:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:18:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121721m	[env.py: 870]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01907875 -1.25079991 -0.12172097] yaw=-13.1deg	[env.py: 1019]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21099024 -1.03760498 -0.12172097] yaw=-15.2deg	[env.py: 1019]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=198.6ms, total=198.6ms	[env.py: 1075]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.019, -1.251, -0.122)	[env.py: 1079]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.1 deg	[env.py: 1082]
+05/13 22:18:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 22:18:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:29 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:18:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:32 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.684s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:18:32 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:18:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:18:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117539m	[env.py: 870]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -139.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.41866504 -1.01930324 -0.11753857] yaw=-59.1deg	[env.py: 1019]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59484409 -1.00652749 -0.11753857] yaw=-53.8deg	[env.py: 1019]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.6ms, total=174.6ms	[env.py: 1075]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.419, -1.019, -0.118)	[env.py: 1079]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.1 deg	[env.py: 1082]
+05/13 22:18:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.888m	[env.py: 1086]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:34 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:18:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:18:36 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.675[m] 84.412[deg]	[grasp_sample.py: 539]
+05/13 22:18:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:18:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:18:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:18:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.56s (batch: 4.01s, save: 9.55s)	[pipeline.py: 300]
+05/13 22:18:39 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=2.17s:
+  episode_total: mean=54.04s, total=162.12s, count=3, min=3398.1ms, max=152387.5ms
+  sensor_polling: mean=395.6ms, total=96.92s, count=245, min=363.4ms, max=766.0ms
+  save_trajectories: mean=9.55s, total=9.55s, count=1, min=9545.3ms, max=9545.3ms
+  physics_step: mean=24.8ms, total=6.07s, count=245, min=21.2ms, max=75.4ms
+  save_batch_prep: mean=4.01s, total=4.01s, count=1, min=4010.8ms, max=4010.8ms
+  task_sampling: mean=724.0ms, total=2.17s, count=3, min=579.2ms, max=1009.3ms
+  task_specific_sample: mean=720.0ms, total=2.16s, count=3, min=575.1ms, max=1006.3ms
+  scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=2.6ms
+  mj_forward_sync: mean=499.4us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.6us, 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 22:18:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:18:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:18:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:18:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:18:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:18:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:18:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115129m	[env.py: 870]
+05/13 22:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:18:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:18:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26748599 -1.24072334 -0.11512936] yaw=-26.3deg	[env.py: 1019]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.1ms, total=236.1ms	[env.py: 1075]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.241, -0.115)	[env.py: 1079]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.3 deg	[env.py: 1082]
+05/13 22:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 22:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:18:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:18:41 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:18:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:18:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:18:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:18:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:18:45 INFO: [Worker 0] Feasibility-checked 240 grasps in 4.139s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:18:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.610[m] 82.539[deg]	[grasp_sample.py: 539]
+05/13 22:18:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:18:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:18:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:18:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:19:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:19:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:24 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:19:30 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:19:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:19:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:19:51 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:19:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:19:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:20:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:20:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:20:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.21s (batch: 5.06s, save: 12.14s)	[pipeline.py: 300]
+05/13 22:20:09 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.58s:
+  episode_total: mean=178.45s, total=178.45s, count=1, min=178452.4ms, max=178452.4ms
+  sensor_polling: mean=392.1ms, total=117.64s, count=300, min=353.8ms, max=771.0ms
+  save_trajectories: mean=12.14s, total=12.14s, count=1, min=12141.3ms, max=12141.3ms
+  physics_step: mean=24.5ms, total=7.36s, count=300, min=17.2ms, max=35.8ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5063.7ms, max=5063.7ms
+  task_sampling: mean=577.9ms, total=577.9ms, count=1, min=577.9ms, max=577.9ms
+  task_specific_sample: mean=573.2ms, total=573.2ms, count=1, min=573.2ms, max=573.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=567.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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 22:20:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:20:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:20:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:20:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:20:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:20:11 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 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146195m	[env.py: 870]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:20:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45041096 -1.00852228 -0.14619529] yaw=-36.5deg	[env.py: 1019]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89784495 -0.74206109 -0.14619529] yaw=-58.6deg	[env.py: 1019]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01524113 -1.31540134 -0.14619529] yaw=-30.7deg	[env.py: 1019]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:20:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=98.6ms, total=98.7ms	[env.py: 1075]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -1.009, -0.146)	[env.py: 1079]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.5 deg	[env.py: 1082]
+05/13 22:20:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m	[env.py: 1086]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:20:11 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:20:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:20:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:20:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:20:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:20:12 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:20:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.067s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:20:17 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.650[m] 83.578[deg]	[grasp_sample.py: 539]
+05/13 22:20:17 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:20:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:20:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:20:28 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:20:36 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:20:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:20:36 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:20:36 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:20:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:20:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:20:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.58s (batch: 4.38s, save: 10.20s)	[pipeline.py: 300]
+05/13 22:20:51 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.51s:
+  episode_total: mean=155.69s, total=155.69s, count=1, min=155690.3ms, max=155690.3ms
+  sensor_polling: mean=397.9ms, total=105.04s, count=264, min=371.0ms, max=761.7ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10197.4ms, max=10197.4ms
+  physics_step: mean=23.3ms, total=6.16s, count=264, min=16.3ms, max=32.9ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.9ms, max=4384.9ms
+  task_sampling: mean=514.4ms, total=514.4ms, count=1, min=514.4ms, max=514.4ms
+  task_specific_sample: mean=511.8ms, total=511.8ms, count=1, min=511.8ms, max=511.8ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=427.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:20:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:20:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:20:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:20:53 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 22:20:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:20:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186111m	[env.py: 870]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:20:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.54196048 -0.89086122 -0.18611087] yaw=-77.9deg	[env.py: 1019]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12348525 -1.34096726 -0.18611087] yaw=-39.8deg	[env.py: 1019]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:20:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=490.3ms, total=490.3ms	[env.py: 1075]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.542, -0.891, -0.186)	[env.py: 1079]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.9 deg	[env.py: 1082]
+05/13 22:20:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:20:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:20:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:20:54 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:20:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:20:54 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 22:20:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:20:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:20:55 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:20:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:20:55 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 22:20:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.452s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:20:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.662[m] 94.045[deg]	[grasp_sample.py: 539]
+05/13 22:21:01 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:21:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:21:01 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 22:21:01 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190007m	[env.py: 870]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20013344 -1.4040438  -0.19000746] yaw=-29.5deg	[env.py: 1019]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=230.2ms, total=230.2ms	[env.py: 1075]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.404, -0.190)	[env.py: 1079]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.5 deg	[env.py: 1082]
+05/13 22:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:03 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:03 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 22:21:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:05 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.348s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.581[m] 85.663[deg]	[grasp_sample.py: 539]
+05/13 22:21:06 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:06 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose	[task_sampler.py: 396]
+05/13 22:21:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105279m	[env.py: 870]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -176.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89032393 -0.82109621 -0.10527907] yaw=-77.2deg	[env.py: 1019]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59985214 -0.94146483 -0.10527907] yaw=-91.6deg	[env.py: 1019]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13121123 -1.30958619 -0.10527907] yaw=-45.4deg	[env.py: 1019]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=298.5ms, total=298.6ms	[env.py: 1075]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.890, -0.821, -0.105)	[env.py: 1079]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.2 deg	[env.py: 1082]
+05/13 22:21:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:08 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:08 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:09 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 22:21:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:10 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:10 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.696[m] 88.587[deg]	[grasp_sample.py: 539]
+05/13 22:21:11 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:21:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:21:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:21:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:21:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:21:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 18.42s (batch: 7.99s, save: 10.43s)	[pipeline.py: 300]
+05/13 22:21:14 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=0.93s:
+  episode_total: mean=82.14s, total=164.28s, count=2, min=3424.7ms, max=160852.7ms
+  sensor_polling: mean=374.8ms, total=100.07s, count=267, min=348.6ms, max=765.0ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10429.3ms, max=10429.3ms
+  save_batch_prep: mean=7.99s, total=7.99s, count=1, min=7994.0ms, max=7994.0ms
+  physics_step: mean=23.0ms, total=6.14s, count=267, min=16.4ms, max=31.2ms
+  task_sampling: mean=465.8ms, total=931.6ms, count=2, min=440.4ms, max=491.3ms
+  task_specific_sample: mean=462.4ms, total=924.8ms, count=2, min=437.4ms, max=487.4ms
+  scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=437.7us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:21:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:21:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:21:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.06s (batch: 4.14s, save: 9.92s)	[pipeline.py: 300]
+05/13 22:21:15 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=0.56s:
+  episode_total: mean=154.97s, total=154.97s, count=1, min=154967.8ms, max=154967.8ms
+  sensor_polling: mean=392.4ms, total=101.63s, count=259, min=359.4ms, max=777.4ms
+  save_trajectories: mean=9.92s, total=9.92s, count=1, min=9918.3ms, max=9918.3ms
+  physics_step: mean=24.4ms, total=6.32s, count=259, min=17.8ms, max=42.0ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4136.8ms, max=4136.8ms
+  task_sampling: mean=556.5ms, total=556.5ms, count=1, min=556.5ms, max=556.5ms
+  task_specific_sample: mean=551.9ms, total=551.9ms, count=1, min=551.9ms, max=551.9ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=574.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:21:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130954m	[env.py: 870]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.82631404 -0.88948724 -0.13095441] yaw=-74.4deg	[env.py: 1019]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22121929 -1.00003674 -0.13095441] yaw=-19.5deg	[env.py: 1019]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.37516863 -1.1309317  -0.13095441] yaw=-53.5deg	[env.py: 1019]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.6ms, total=195.6ms	[env.py: 1075]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.826, -0.889, -0.131)	[env.py: 1079]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg	[env.py: 1082]
+05/13 22:21:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m	[env.py: 1086]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:17 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:21:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:17 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 22:21:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150260m	[env.py: 870]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -71.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30405495 -1.22804944 -0.15025965] yaw=-17.7deg	[env.py: 1019]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=564.9ms, total=565.0ms	[env.py: 1075]
+05/13 22:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.228, -0.150)	[env.py: 1079]
+05/13 22:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.7 deg	[env.py: 1082]
+05/13 22:21:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/13 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:18 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:18 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 22:21:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.640s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.655[m] 95.710[deg]	[grasp_sample.py: 539]
+05/13 22:21:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:21:20 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159605m	[env.py: 870]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.88988136 -0.75580314 -0.15960492] yaw=-66.3deg	[env.py: 1019]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.29769229 -1.04793554 -0.15960492] yaw=-43.4deg	[env.py: 1019]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.890, -0.756, -0.160)	[env.py: 1079]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.3 deg	[env.py: 1082]
+05/13 22:21:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:23 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:23 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:21:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:24 INFO: [Worker 0] Feasibility-checked 234 grasps in 5.416s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:24 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.601[m] 83.469[deg]	[grasp_sample.py: 539]
+05/13 22:21:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:21:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:21:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:25 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 22:21:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.228s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.722[m] 91.412[deg]	[grasp_sample.py: 539]
+05/13 22:21:30 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130348m	[env.py: 870]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -96.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28612916 -1.2160762  -0.13034753] yaw=-61.2deg	[env.py: 1019]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=377.8ms, total=377.8ms	[env.py: 1075]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -1.216, -0.130)	[env.py: 1079]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.2 deg	[env.py: 1082]
+05/13 22:21:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:33 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.209s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:21:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.687s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:39 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.657[m] 95.856[deg]	[grasp_sample.py: 539]
+05/13 22:21:41 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:21:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:21:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:21:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:21:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:21:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:21:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198186m	[env.py: 870]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:21:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.90751355 -0.86612519 -0.19818624] yaw=-97.1deg	[env.py: 1019]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:21:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=333.6ms, total=333.6ms	[env.py: 1075]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.908, -0.866, -0.198)	[env.py: 1079]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.1 deg	[env.py: 1082]
+05/13 22:21:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m	[env.py: 1086]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:21:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:21:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:21:44 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:21:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:21:44 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 22:21:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:21:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:21:46 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.135s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:21:46 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.592[m] 89.658[deg]	[grasp_sample.py: 539]
+05/13 22:21:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:21:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:21:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:21:47 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 22:22:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:16 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:22:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:22:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:22:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:22:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:22:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:22:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 136 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:22:44 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:22:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:22:44 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:22:46 INFO: [Worker 0] Feasibility-checked 136 grasps in 12.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:22:46 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.050[m] 12.652[deg]	[grasp_sample.py: 539]
+05/13 22:22:47 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:22:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:22:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:22:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:22:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:22:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:22:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121208m	[env.py: 870]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:22:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.60457155 -0.85072253 -0.12120769] yaw=-60.9deg	[env.py: 1019]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.73723698 -0.95428656 -0.12120769] yaw=-64.2deg	[env.py: 1019]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45432507 -0.88339035 -0.12120769] yaw=-66.1deg	[env.py: 1019]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:22:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=332.1ms, total=332.1ms	[env.py: 1075]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.851, -0.121)	[env.py: 1079]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg	[env.py: 1082]
+05/13 22:22:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:22:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:22:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:22:50 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:22:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:22:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:22:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:22:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:22:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.985s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:22:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.699[m] 95.290[deg]	[grasp_sample.py: 539]
+05/13 22:22:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:22:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:22:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:22:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:22:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:22:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:22:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.31s (batch: 4.31s, save: 9.99s)	[pipeline.py: 300]
+05/13 22:22:59 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.42s:
+  episode_total: mean=167.76s, total=167.76s, count=1, min=167764.9ms, max=167764.9ms
+  sensor_polling: mean=412.5ms, total=109.74s, count=266, min=354.2ms, max=815.1ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9994.9ms, max=9994.9ms
+  physics_step: mean=26.1ms, total=6.93s, count=266, min=16.5ms, max=65.8ms
+  save_batch_prep: mean=4.31s, total=4.31s, count=1, min=4314.5ms, max=4314.5ms
+  task_sampling: mean=416.0ms, total=416.0ms, count=1, min=416.0ms, max=416.0ms
+  task_specific_sample: mean=412.1ms, total=412.1ms, count=1, min=412.1ms, max=412.1ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=445.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:23:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:23:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:23:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:23:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:23:00 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 22:23:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:23:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167342m	[env.py: 870]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:23:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40270047 -1.09140442 -0.16734151] yaw=-27.4deg	[env.py: 1019]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.81111007 -0.75465395 -0.16734151] yaw=-60.9deg	[env.py: 1019]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.76636439 -0.85772006 -0.16734151] yaw=-59.8deg	[env.py: 1019]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:23:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=226.6ms, total=226.7ms	[env.py: 1075]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -1.091, -0.167)	[env.py: 1079]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg	[env.py: 1082]
+05/13 22:23:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:23:01 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:23:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:23:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:23:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:03 INFO: [Worker 0] Feasibility-checked 238 grasps in 1.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:03 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.614[m] 72.785[deg]	[grasp_sample.py: 539]
+05/13 22:23:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:23:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:23:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:23:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:23 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:23:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:23:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:23:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:23:45 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 22:23:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.242s, found 104 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:46 INFO: [Worker 0] Feasibility-checked 104 grasps in 0.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:46 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.023[m] 2.449[deg]	[grasp_sample.py: 539]
+05/13 22:23:48 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:23:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:23:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:23:48 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:23:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:23:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:23:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:23:50 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 22:23:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:23:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144083m	[env.py: 870]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:23:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -108.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15930492 -1.39815764 -0.14408321] yaw=-42.8deg	[env.py: 1019]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:23:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=300.2ms, total=300.3ms	[env.py: 1075]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.398, -0.144)	[env.py: 1079]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/13 22:23:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 22:23:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:23:51 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:23:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:23:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:23:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:23:54 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.592s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:23:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.625[m] 86.305[deg]	[grasp_sample.py: 539]
+05/13 22:23:55 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:23:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:23:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:23:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:23:58 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 22:23:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:23:58 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 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189713m	[env.py: 870]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:23:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.59482059 -0.89088289 -0.18971289] yaw=-92.8deg	[env.py: 1019]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54507971 -0.80670114 -0.18971289] yaw=-49.4deg	[env.py: 1019]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:23:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.45377114 -0.85164691 -0.18971289] yaw=-53.4deg	[env.py: 1019]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:23:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=381.3ms, total=381.4ms	[env.py: 1075]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.891, -0.190)	[env.py: 1079]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.8 deg	[env.py: 1082]
+05/13 22:23:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:23:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:23:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:23:58 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:23:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:23:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:23:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:23:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.900s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:02 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.666[m] 90.220[deg]	[grasp_sample.py: 539]
+05/13 22:24:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:24:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:24:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.41s (batch: 4.25s, save: 10.17s)	[pipeline.py: 300]
+05/13 22:24:03 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:24:03 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.89s:
+  episode_total: mean=166.24s, total=166.24s, count=1, min=166236.4ms, max=166236.4ms
+  sensor_polling: mean=425.4ms, total=109.76s, count=258, min=362.0ms, max=768.5ms
+  save_trajectories: mean=10.17s, total=10.17s, count=1, min=10166.3ms, max=10166.3ms
+  physics_step: mean=26.6ms, total=6.87s, count=258, min=21.5ms, max=37.3ms
+  save_batch_prep: mean=4.25s, total=4.25s, count=1, min=4245.8ms, max=4245.8ms
+  task_sampling: mean=888.7ms, total=888.7ms, count=1, min=888.7ms, max=888.7ms
+  task_specific_sample: mean=884.8ms, total=884.8ms, count=1, min=884.8ms, max=884.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=433.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:24:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136427m	[env.py: 870]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77053713 -0.93431376 -0.13642667] yaw=-81.1deg	[env.py: 1019]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19682529 -1.16737713 -0.13642667] yaw=-35.6deg	[env.py: 1019]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.2ms, total=237.2ms	[env.py: 1075]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.771, -0.934, -0.136)	[env.py: 1079]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg	[env.py: 1082]
+05/13 22:24:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m	[env.py: 1086]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:05 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195920m	[env.py: 870]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.70583325 -0.77544122 -0.19591975] yaw=-84.3deg	[env.py: 1019]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01874488 -1.18875075 -0.19591975] yaw=-22.9deg	[env.py: 1019]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41857545 -0.83167682 -0.19591975] yaw=-64.2deg	[env.py: 1019]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=271.8ms, total=271.9ms	[env.py: 1075]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.706, -0.775, -0.196)	[env.py: 1079]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.3 deg	[env.py: 1082]
+05/13 22:24:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:24:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:06 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.332s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:07 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.601[m] 97.850[deg]	[grasp_sample.py: 539]
+05/13 22:24:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:09 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.760s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:09 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.707[m] 98.456[deg]	[grasp_sample.py: 539]
+05/13 22:24:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:10 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:24:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148973m	[env.py: 870]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17993267 -1.38033585 -0.14897349] yaw=-44.2deg	[env.py: 1019]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31226903 -1.19783592 -0.14897349] yaw=-15.1deg	[env.py: 1019]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06263299 -1.40534784 -0.14897349] yaw=-41.9deg	[env.py: 1019]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=210.4ms, total=210.4ms	[env.py: 1075]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.180, -1.380, -0.149)	[env.py: 1079]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg	[env.py: 1082]
+05/13 22:24:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:13 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.168s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:24:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:24:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 134 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:22 INFO: [Worker 0] Feasibility-checked 134 grasps in 2.850s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:22 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.043[m] 2.183[deg]	[grasp_sample.py: 539]
+05/13 22:24:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 12.849s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:26 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.607[m] 88.141[deg]	[grasp_sample.py: 539]
+05/13 22:24:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:24:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.757s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:30 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.216[m] 11.925[deg]	[grasp_sample.py: 539]
+05/13 22:24:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:24:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:33 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.358[m] 14.870[deg]	[grasp_sample.py: 539]
+05/13 22:24:34 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:24:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:36 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 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155159m	[env.py: 870]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.03814081 -1.3059362  -0.15515894] yaw=-34.7deg	[env.py: 1019]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88805083 -0.9313858  -0.15515894] yaw=-95.7deg	[env.py: 1019]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40524707 -0.887791   -0.15515894] yaw=-61.8deg	[env.py: 1019]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=223.1ms, total=223.2ms	[env.py: 1075]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.038, -1.306, -0.155)	[env.py: 1079]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg	[env.py: 1082]
+05/13 22:24:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:36 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:39 INFO: [Worker 0] Feasibility-checked 240 grasps in 2.698s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:24:39 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:24:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:24:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:24:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:24:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121702m	[env.py: 870]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.76439812 -0.66677772 -0.12170249] yaw=-60.8deg	[env.py: 1019]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11234334 -1.28922494 -0.12170249] yaw=-38.1deg	[env.py: 1019]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=381.3ms, total=381.3ms	[env.py: 1075]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.764, -0.667, -0.122)	[env.py: 1079]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg	[env.py: 1082]
+05/13 22:24:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:41 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.596s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:24:44 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164691m	[env.py: 870]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2491728  -1.10223748 -0.16469061] yaw=-59.2deg	[env.py: 1019]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:24:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=358.1ms, total=358.1ms	[env.py: 1075]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.249, -1.102, -0.165)	[env.py: 1079]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg	[env.py: 1082]
+05/13 22:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:24:46 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:24:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:24:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:24:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:24:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:24:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.279s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.682[m] 82.590[deg]	[grasp_sample.py: 539]
+05/13 22:24:49 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:24:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:24:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:24:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:24:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 14.384s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:24:54 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.443[m] 66.388[deg]	[grasp_sample.py: 539]
+05/13 22:24:56 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:24:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:24:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:24:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:24:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:24:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:24:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192993m	[env.py: 870]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:24:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:24:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=308.0ms, total=308.1ms	[env.py: 1105]
+05/13 22:24:58 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:24:58 ERROR: [Worker 0] Worker 0 house 1 episode 25 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:25:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:25:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185289m	[env.py: 870]
+05/13 22:25:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56463698 -0.70095475 -0.18528898] yaw=-70.6deg	[env.py: 1019]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2544591  -0.95980001 -0.18528898] yaw=-43.9deg	[env.py: 1019]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.0ms, total=230.0ms	[env.py: 1075]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.565, -0.701, -0.185)	[env.py: 1079]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.6 deg	[env.py: 1082]
+05/13 22:25:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m	[env.py: 1086]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:02 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.202s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:25:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:03 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:25:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.762s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:25:05 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:25:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:07 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:25:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151832m	[env.py: 870]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -144.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41972617 -0.93018858 -0.15183223] yaw=-83.6deg	[env.py: 1019]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20933556 -1.41476796 -0.15183223] yaw=-13.2deg	[env.py: 1019]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.5685187  -0.97990682 -0.15183223] yaw=-80.6deg	[env.py: 1019]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=199.5ms, total=199.6ms	[env.py: 1075]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.930, -0.152)	[env.py: 1079]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.6 deg	[env.py: 1082]
+05/13 22:25:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:07 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:25:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:25:12 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.738[m] 88.837[deg]	[grasp_sample.py: 539]
+05/13 22:25:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:25:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:25:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:20 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:28 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:25:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:25:28 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:25:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:25:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:25:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:25:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.68s (batch: 4.65s, save: 11.03s)	[pipeline.py: 300]
+05/13 22:25:44 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.55s:
+  episode_total: mean=164.14s, total=164.14s, count=1, min=164144.5ms, max=164144.5ms
+  sensor_polling: mean=426.1ms, total=109.93s, count=258, min=363.6ms, max=802.2ms
+  save_trajectories: mean=11.03s, total=11.03s, count=1, min=11030.8ms, max=11030.8ms
+  physics_step: mean=27.1ms, total=6.99s, count=258, min=16.5ms, max=64.1ms
+  save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4648.2ms, max=4648.2ms
+  task_sampling: mean=548.8ms, total=548.8ms, count=1, min=548.8ms, max=548.8ms
+  task_specific_sample: mean=544.8ms, total=544.8ms, count=1, min=544.8ms, max=544.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=438.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:25:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:25:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133401m	[env.py: 870]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.79234997 -0.65193783 -0.13340065] yaw=-85.7deg	[env.py: 1019]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61785609 -0.91501429 -0.13340065] yaw=-64.5deg	[env.py: 1019]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25188047 -1.19834188 -0.13340065] yaw=-59.2deg	[env.py: 1019]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.6ms, total=246.6ms	[env.py: 1075]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.792, -0.652, -0.133)	[env.py: 1079]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.7 deg	[env.py: 1082]
+05/13 22:25:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:46 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:25:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:25:49 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.698s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:25:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:25:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:25:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140058m	[env.py: 870]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11252671 -1.1893627  -0.14005751] yaw=-41.2deg	[env.py: 1019]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.89060791 -0.82270672 -0.14005751] yaw=-92.5deg	[env.py: 1019]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54161079 -0.97771994 -0.14005751] yaw=-79.5deg	[env.py: 1019]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.6ms, total=180.6ms	[env.py: 1075]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.189, -0.140)	[env.py: 1079]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.2 deg	[env.py: 1082]
+05/13 22:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m	[env.py: 1086]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:51 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:52 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 22:25:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:54 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.686s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:25:54 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:25:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:25:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:25:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:25:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:25:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:25:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191747m	[env.py: 870]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:25:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.26496314 -0.9537415  -0.19174714] yaw=-70.7deg	[env.py: 1019]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.68722961 -0.87900437 -0.19174714] yaw=-95.5deg	[env.py: 1019]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.75584274 -0.82869537 -0.19174714] yaw=-99.5deg	[env.py: 1019]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:25:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=319.2ms, total=319.2ms	[env.py: 1075]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.265, -0.954, -0.192)	[env.py: 1079]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg	[env.py: 1082]
+05/13 22:25:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m	[env.py: 1086]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:25:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:25:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:25:57 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:25:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:25:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:25:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:25:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:25:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:26:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.822s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:26:00 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.728[m] 85.942[deg]	[grasp_sample.py: 539]
+05/13 22:26:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:26:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:26:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:01 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 22:26:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:23 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:26:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:26:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:26:49 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:26:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:26:49 INFO: [Worker 0] Preparing episode data: 258 timesteps	[save_utils.py: 278]
+05/13 22:26:55 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:27:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:27:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:27:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.77s (batch: 6.49s, save: 10.27s)	[pipeline.py: 300]
+05/13 22:27:07 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=5.02s:
+  episode_total: mean=41.53s, total=332.23s, count=8, min=3931.0ms, max=174091.3ms
+  sensor_polling: mean=432.4ms, total=196.31s, count=454, min=359.2ms, max=761.4ms
+  physics_step: mean=26.2ms, total=11.89s, count=454, min=21.4ms, max=65.9ms
+  save_trajectories: mean=10.27s, total=10.27s, count=1, min=10273.9ms, max=10273.9ms
+  save_batch_prep: mean=6.49s, total=6.49s, count=1, min=6495.0ms, max=6495.0ms
+  task_sampling: mean=627.3ms, total=5.02s, count=8, min=514.7ms, max=741.5ms
+  task_specific_sample: mean=622.1ms, total=4.98s, count=8, min=505.3ms, max=737.3ms
+  scene_randomize: mean=2.4ms, total=19.5ms, count=8, min=1.3ms, max=5.0ms
+  mj_forward_sync: mean=486.7us, total=3.9ms, count=8, min=0.4ms, max=0.6ms
+  policy_setup: mean=21.7us, total=0.2ms, count=8, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:27:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:27:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128127m	[env.py: 870]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48533125 -0.9270868  -0.12812728] yaw=-40.8deg	[env.py: 1019]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52764263 -0.73129675 -0.12812728] yaw=-51.8deg	[env.py: 1019]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.4ms, total=247.5ms	[env.py: 1075]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.927, -0.128)	[env.py: 1079]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.8 deg	[env.py: 1082]
+05/13 22:27:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m	[env.py: 1086]
+05/13 22:27:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:10 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:13 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:27:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.840s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:13 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.709[m] 83.720[deg]	[grasp_sample.py: 539]
+05/13 22:27:15 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:27:16 INFO: [Worker 0] Object is not in grasp! 0.00044 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:27:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:27:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 298 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:18 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 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159423m	[env.py: 870]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00689953 -1.17625743 -0.15942282] yaw=-44.5deg	[env.py: 1019]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.02423064 -1.31196497 -0.15942282] yaw=-29.8deg	[env.py: 1019]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=308.6ms, total=308.7ms	[env.py: 1075]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.176, -0.159)	[env.py: 1079]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg	[env.py: 1082]
+05/13 22:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:18 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:19 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:27:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.928s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:19 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.225[m] 34.627[deg]	[grasp_sample.py: 539]
+05/13 22:27:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:21 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.619s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:27:21 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:27:23 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:27:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:27:23 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:27:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:24 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 22:27:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104016m	[env.py: 870]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.204584   -1.15798374 -0.10401611] yaw=-11.9deg	[env.py: 1019]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19811235 -1.28284254 -0.10401611] yaw=-56.5deg	[env.py: 1019]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.43389489 -0.87753963 -0.10401611] yaw=-75.5deg	[env.py: 1019]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=241.1ms, total=241.2ms	[env.py: 1075]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.205, -1.158, -0.104)	[env.py: 1079]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.9 deg	[env.py: 1082]
+05/13 22:27:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:24 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:27 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.900s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:27 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.758[m] 82.086[deg]	[grasp_sample.py: 539]
+05/13 22:27:29 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:27:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:31 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 22:27:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152900m	[env.py: 870]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.81981958 -0.69394041 -0.15290034] yaw=-82.6deg	[env.py: 1019]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08633051 -1.11145363 -0.15290034] yaw=-24.2deg	[env.py: 1019]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16109066 -1.22670009 -0.15290034] yaw=-19.8deg	[env.py: 1019]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.3ms, total=155.4ms	[env.py: 1075]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.820, -0.694, -0.153)	[env.py: 1079]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.6 deg	[env.py: 1082]
+05/13 22:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:31 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.681s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:27:34 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:27:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:27:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:37 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 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177348m	[env.py: 870]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69067961 -0.78896227 -0.17734819] yaw=-64.6deg	[env.py: 1019]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.77856171 -0.7261067  -0.17734819] yaw=-52.2deg	[env.py: 1019]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.08359211 -1.29725407 -0.17734819] yaw=-12.6deg	[env.py: 1019]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=468.3ms, total=468.4ms	[env.py: 1075]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.691, -0.789, -0.177)	[env.py: 1079]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg	[env.py: 1082]
+05/13 22:27:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:38 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:27:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:27:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.98s (batch: 4.35s, save: 10.63s)	[pipeline.py: 300]
+05/13 22:27:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:39 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=4.40s:
+  episode_total: mean=56.77s, total=397.38s, count=7, min=3442.2ms, max=173583.9ms
+  sensor_polling: mean=434.4ms, total=249.78s, count=575, min=364.9ms, max=882.5ms
+  physics_step: mean=25.7ms, total=14.77s, count=575, min=16.4ms, max=77.7ms
+  save_trajectories: mean=10.63s, total=10.63s, count=1, min=10634.3ms, max=10634.3ms
+  task_sampling: mean=628.5ms, total=4.40s, count=7, min=498.9ms, max=847.2ms
+  task_specific_sample: mean=624.5ms, total=4.37s, count=7, min=495.8ms, max=842.9ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4349.6ms, max=4349.6ms
+  scene_randomize: mean=1.6ms, total=11.5ms, count=7, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=439.0us, total=3.1ms, count=7, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:27:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:27:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:27:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:27:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:27:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:27:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195596m	[env.py: 870]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:27:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.87649734 -0.87170448 -0.1955962 ] yaw=-90.3deg	[env.py: 1019]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.0486856  -1.31707669 -0.1955962 ] yaw=-1.0deg	[env.py: 1019]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:27:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.0ms, total=240.1ms	[env.py: 1075]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.876, -0.872, -0.196)	[env.py: 1079]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.3 deg	[env.py: 1082]
+05/13 22:27:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m	[env.py: 1086]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:27:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:27:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:27:41 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:27:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:27:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:27:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:27:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:27:43 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.288s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:43 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.596[m] 101.550[deg]	[grasp_sample.py: 539]
+05/13 22:27:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:27:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.198s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:27:44 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.716[m] 97.875[deg]	[grasp_sample.py: 539]
+05/13 22:27:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:27:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:27:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:46 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:27:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:27:46 INFO: [Worker 0] Preparing episode data: 277 timesteps	[save_utils.py: 278]
+05/13 22:27:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:27:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:27:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:28:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:28:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.74s (batch: 4.20s, save: 10.54s)	[pipeline.py: 300]
+05/13 22:28:01 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=1.71s:
+  episode_total: mean=57.41s, total=229.62s, count=4, min=324.3ms, max=174379.2ms
+  sensor_polling: mean=417.4ms, total=134.39s, count=322, min=356.0ms, max=840.5ms
+  save_trajectories: mean=10.54s, total=10.54s, count=1, min=10541.3ms, max=10541.3ms
+  physics_step: mean=26.0ms, total=8.36s, count=322, min=16.8ms, max=80.6ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.2ms, max=4201.2ms
+  task_specific_sample: mean=503.6ms, total=2.01s, count=4, min=316.6ms, max=701.5ms
+  task_sampling: mean=570.5ms, total=1.71s, count=3, min=454.4ms, max=707.5ms
+  task_sampling_failed: mean=324.3ms, total=324.3ms, count=1, min=324.3ms, max=324.3ms
+  scene_randomize: mean=2.3ms, total=9.0ms, count=4, min=1.6ms, max=2.8ms
+  mj_forward_sync: mean=516.2us, total=2.1ms, count=4, min=0.4ms, max=0.7ms
+  policy_setup: mean=22.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:28:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:03 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 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136870m	[env.py: 870]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 0.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.8ms, total=231.9ms	[env.py: 1105]
+05/13 22:28:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:28:03 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:28:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117829m	[env.py: 870]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34517504 -0.91232425 -0.11782944] yaw=-25.5deg	[env.py: 1019]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.52777822 -0.90917655 -0.11782944] yaw=-66.4deg	[env.py: 1019]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.47257694 -0.79617379 -0.11782944] yaw=-67.7deg	[env.py: 1019]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.4ms, total=186.4ms	[env.py: 1075]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.345, -0.912, -0.118)	[env.py: 1079]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.5 deg	[env.py: 1082]
+05/13 22:28:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 22:28:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:05 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:08 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.749s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:08 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.809[m] 74.816[deg]	[grasp_sample.py: 539]
+05/13 22:28:08 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:28:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:28:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:28:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 293 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.615s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:12 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:14 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 22:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164631m	[env.py: 870]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1752574  -1.07035519 -0.1646315 ] yaw=-59.2deg	[env.py: 1019]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08712585 -1.30848439 -0.1646315 ] yaw=-21.8deg	[env.py: 1019]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1832738  -1.36688916 -0.1646315 ] yaw=2.4deg	[env.py: 1019]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=611.3ms, total=611.4ms	[env.py: 1075]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.070, -0.165)	[env.py: 1079]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg	[env.py: 1082]
+05/13 22:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:15 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:28:15 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:28:15 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 22:28:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:15 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:15 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 22:28:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:16 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.404s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:16 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.454[m] 69.990[deg]	[grasp_sample.py: 539]
+05/13 22:28:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:28:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:28:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.731s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:18 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151573m	[env.py: 870]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52090683 -0.76804946 -0.1515735 ] yaw=-51.9deg	[env.py: 1019]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.83077608 -0.73897539 -0.1515735 ] yaw=-95.9deg	[env.py: 1019]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44961672 -0.89483036 -0.1515735 ] yaw=-43.5deg	[env.py: 1019]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=325.0ms, total=325.1ms	[env.py: 1075]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.521, -0.768, -0.152)	[env.py: 1079]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg	[env.py: 1082]
+05/13 22:28:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 22:28:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:20 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:23 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.669s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:23 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:23 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found	[task_sampler.py: 396]
+05/13 22:28:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114939m	[env.py: 870]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.01546974 -1.22826959 -0.11493872] yaw=-22.0deg	[env.py: 1019]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.12649656 -1.3500543  -0.11493872] yaw=-41.0deg	[env.py: 1019]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.4018231  -0.97496606 -0.11493872] yaw=-41.2deg	[env.py: 1019]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=196.3ms, total=196.3ms	[env.py: 1075]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.015, -1.228, -0.115)	[env.py: 1079]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.0 deg	[env.py: 1082]
+05/13 22:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/13 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:25 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:28 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.637s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:28 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183652m	[env.py: 870]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.00632337 -1.37624464 -0.18365229] yaw=-10.0deg	[env.py: 1019]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=227.0ms, total=227.0ms	[env.py: 1075]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.006, -1.376, -0.184)	[env.py: 1079]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.0 deg	[env.py: 1082]
+05/13 22:28:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:30 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:28:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:28:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:32 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:32 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.454[m] 69.993[deg]	[grasp_sample.py: 539]
+05/13 22:28:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:28:33 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.698s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:33 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:28:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135567m	[env.py: 870]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23465365 -1.06716175 -0.13556727] yaw=-35.7deg	[env.py: 1019]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=270.4ms, total=270.5ms	[env.py: 1075]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.067, -0.136)	[env.py: 1079]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg	[env.py: 1082]
+05/13 22:28:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m	[env.py: 1086]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:35 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:35 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:41 INFO: [Worker 0] Feasibility-checked 240 grasps in 5.787s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.729[m] 84.696[deg]	[grasp_sample.py: 539]
+05/13 22:28:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:42 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:28:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177737m	[env.py: 870]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.0529707  -1.33024708 -0.1777373 ] yaw=-19.5deg	[env.py: 1019]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=243.5ms, total=243.6ms	[env.py: 1075]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.053, -1.330, -0.178)	[env.py: 1079]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.5 deg	[env.py: 1082]
+05/13 22:28:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:46 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:28:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:28:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:47 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.541s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:47 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.454[m] 69.993[deg]	[grasp_sample.py: 539]
+05/13 22:28:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:28:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:28:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:49 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.853s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:28:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:28:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:28:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:28:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:28:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105581m	[env.py: 870]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:28:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.49122424 -0.95272265 -0.10558138] yaw=-78.6deg	[env.py: 1019]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.92425727 -0.87791276 -0.10558138] yaw=-109.4deg	[env.py: 1019]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17956716 -1.34947702 -0.10558138] yaw=-35.9deg	[env.py: 1019]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:28:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.2ms, total=204.3ms	[env.py: 1075]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.491, -0.953, -0.106)	[env.py: 1079]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.6 deg	[env.py: 1082]
+05/13 22:28:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m	[env.py: 1086]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:28:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:28:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:28:51 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:28:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:28:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:28:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:28:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:28:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:28:57 INFO: [Worker 0] Feasibility-checked 243 grasps in 6.027s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:28:57 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.677[m] 97.253[deg]	[grasp_sample.py: 539]
+05/13 22:28:58 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:28:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:29:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:00 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 22:29:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173340m	[env.py: 870]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 43.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35555276 -1.19053599 -0.17333985] yaw=-66.6deg	[env.py: 1019]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25997312 -1.08894431 -0.17333985] yaw=-52.9deg	[env.py: 1019]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=351.0ms, total=351.0ms	[env.py: 1075]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.356, -1.191, -0.173)	[env.py: 1079]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg	[env.py: 1082]
+05/13 22:29:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m	[env.py: 1086]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:01 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:29:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:29:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:29:02 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:29:02 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:29:02 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=0.54s:
+  episode_total: mean=81.89s, total=81.89s, count=1, min=81889.7ms, max=81889.7ms
+  sensor_polling: mean=443.7ms, total=32.39s, count=73, min=384.4ms, max=810.8ms
+  physics_step: mean=22.8ms, total=1.67s, count=73, min=14.3ms, max=41.9ms
+  task_sampling: mean=543.6ms, total=543.6ms, count=1, min=543.6ms, max=543.6ms
+  task_specific_sample: mean=539.6ms, total=539.6ms, count=1, min=539.6ms, max=539.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:29:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.945s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.613[m] 85.759[deg]	[grasp_sample.py: 539]
+05/13 22:29:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:04 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 22:29:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180285m	[env.py: 870]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73850818 -0.67209424 -0.18028545] yaw=-106.6deg	[env.py: 1019]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20441308 -1.0922853  -0.18028545] yaw=-35.3deg	[env.py: 1019]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.5ms, total=266.5ms	[env.py: 1075]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.739, -0.672, -0.180)	[env.py: 1079]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.6 deg	[env.py: 1082]
+05/13 22:29:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:05 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:05 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 22:29:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:29:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:29:07 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.660s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:29:07 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:29:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:29:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:29:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:29:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:29:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:29:09 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 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159169m	[env.py: 870]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:29:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48921202 -0.9027392  -0.15916858] yaw=-48.7deg	[env.py: 1019]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:29:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=482.2ms, total=482.3ms	[env.py: 1075]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.903, -0.159)	[env.py: 1079]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.7 deg	[env.py: 1082]
+05/13 22:29:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:29:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:29:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:29:10 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:29:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:29:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:29:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:29:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:29:13 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.955s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:29:13 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.709[m] 91.645[deg]	[grasp_sample.py: 539]
+05/13 22:29:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:29:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:29:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:29:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:29:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:29:59 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:30:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:08 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:21 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:22 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:30:27 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:30:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:30:27 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 22:30:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:40 INFO: [Worker 0] Object is not in grasp! 0.00183 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:30:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:30:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:30:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:30:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.195s, found 99 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:30:41 INFO: [Worker 0] Feasibility-checked 99 grasps in 0.628s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:30:41 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.176[deg]	[grasp_sample.py: 539]
+05/13 22:30:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:30:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:30:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:30:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:30:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.40s (batch: 5.10s, save: 10.30s)	[pipeline.py: 300]
+05/13 22:30:43 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=2.99s:
+  episode_total: mean=40.79s, total=203.96s, count=5, min=3422.9ms, max=186589.4ms
+  sensor_polling: mean=435.1ms, total=121.83s, count=280, min=361.6ms, max=772.1ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10301.8ms, max=10301.8ms
+  physics_step: mean=26.3ms, total=7.35s, count=280, min=21.3ms, max=96.1ms
+  save_batch_prep: mean=5.10s, total=5.10s, count=1, min=5098.8ms, max=5098.8ms
+  task_sampling: mean=597.0ms, total=2.99s, count=5, min=481.1ms, max=759.5ms
+  task_specific_sample: mean=591.9ms, total=2.96s, count=5, min=475.5ms, max=755.4ms
+  scene_randomize: mean=2.6ms, total=12.8ms, count=5, min=2.0ms, max=3.5ms
+  mj_forward_sync: mean=494.8us, total=2.5ms, count=5, min=0.4ms, max=0.7ms
+  policy_setup: mean=22.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:30:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:30:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:30:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:30:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:30:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:30:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:30:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163826m	[env.py: 870]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:30:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 60.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3741937  -0.79890109 -0.16382585] yaw=-71.0deg	[env.py: 1019]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.13317632 -1.41296843 -0.16382585] yaw=-34.2deg	[env.py: 1019]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.7ms, total=249.7ms	[env.py: 1075]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.799, -0.164)	[env.py: 1079]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.0 deg	[env.py: 1082]
+05/13 22:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:30:46 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:30:46 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:30:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:30:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:30:49 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.518s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:30:49 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:30:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:30:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:30:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:30:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:30:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:30:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:30:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178674m	[env.py: 870]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:30:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:30:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:30:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:30:51 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22922417 -1.1662422  -0.17867356] yaw=-65.8deg	[env.py: 1019]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33044095 -0.84726972 -0.17867356] yaw=-80.6deg	[env.py: 1019]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39321293 -0.93356296 -0.17867356] yaw=-59.7deg	[env.py: 1019]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:30:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=156.7ms, total=156.8ms	[env.py: 1075]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.166, -0.179)	[env.py: 1079]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg	[env.py: 1082]
+05/13 22:30:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:30:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:30:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:30:52 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:30:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:30:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:30:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:30:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:30:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:30:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:30:57 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:31:02 INFO: [Worker 0] Feasibility-checked 245 grasps in 9.622s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:02 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.668[m] 91.686[deg]	[grasp_sample.py: 539]
+05/13 22:31:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:31:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:31:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.35s (batch: 5.07s, save: 12.28s)	[pipeline.py: 300]
+05/13 22:31:09 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.49s:
+  episode_total: mean=92.62s, total=185.24s, count=2, min=244.4ms, max=184999.7ms
+  sensor_polling: mean=415.0ms, total=123.27s, count=297, min=357.5ms, max=746.0ms
+  save_trajectories: mean=12.28s, total=12.28s, count=1, min=12279.1ms, max=12279.1ms
+  physics_step: mean=26.8ms, total=7.97s, count=297, min=16.8ms, max=114.4ms
+  save_batch_prep: mean=5.07s, total=5.07s, count=1, min=5070.3ms, max=5070.3ms
+  task_specific_sample: mean=364.9ms, total=729.8ms, count=2, min=238.8ms, max=491.0ms
+  task_sampling: mean=494.0ms, total=494.0ms, count=1, min=494.0ms, max=494.0ms
+  task_sampling_failed: mean=244.4ms, total=244.4ms, count=1, min=244.4ms, max=244.4ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.1ms, max=2.7ms
+  mj_forward_sync: mean=451.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:31:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:11 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:31:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154513m	[env.py: 870]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -158.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23457266 -1.06262023 -0.15451334] yaw=-66.2deg	[env.py: 1019]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=271.5ms, total=271.6ms	[env.py: 1075]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.063, -0.155)	[env.py: 1079]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg	[env.py: 1082]
+05/13 22:31:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:11 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:31:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.708s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:14 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.769[m] 100.780[deg]	[grasp_sample.py: 539]
+05/13 22:31:16 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:31:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:31:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:17 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 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119352m	[env.py: 870]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.55244026 -0.96782239 -0.11935227] yaw=-45.8deg	[env.py: 1019]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.06215108 -1.23146235 -0.11935227] yaw=-57.2deg	[env.py: 1019]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19166618 -1.32599105 -0.11935227] yaw=-19.6deg	[env.py: 1019]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=245.0ms, total=245.0ms	[env.py: 1075]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.552, -0.968, -0.119)	[env.py: 1079]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg	[env.py: 1082]
+05/13 22:31:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m	[env.py: 1086]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:18 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:18 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:31:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.236s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:19 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 80.357[deg]	[grasp_sample.py: 539]
+05/13 22:31:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:20 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 22:31:22 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:31:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:31:22 INFO: [Worker 0] Preparing episode data: 256 timesteps	[save_utils.py: 278]
+05/13 22:31:37 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:31:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:31:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:31:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.44s (batch: 6.71s, save: 9.73s)	[pipeline.py: 300]
+05/13 22:31:40 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=6.36s:
+  episode_total: mean=30.58s, total=336.42s, count=11, min=3276.5ms, max=159621.7ms
+  sensor_polling: mean=415.5ms, total=207.76s, count=500, min=359.4ms, max=849.6ms
+  physics_step: mean=25.8ms, total=12.91s, count=500, min=17.4ms, max=76.8ms
+  save_trajectories: mean=9.73s, total=9.73s, count=1, min=9729.9ms, max=9729.9ms
+  save_batch_prep: mean=6.71s, total=6.71s, count=1, min=6710.4ms, max=6710.4ms
+  task_sampling: mean=577.9ms, total=6.36s, count=11, min=448.8ms, max=942.3ms
+  task_specific_sample: mean=574.0ms, total=6.31s, count=11, min=446.2ms, max=938.4ms
+  scene_randomize: mean=1.7ms, total=18.3ms, count=11, min=1.0ms, max=2.7ms
+  mj_forward_sync: mean=467.4us, total=5.1ms, count=11, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.7us, total=0.2ms, count=11, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:31:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:31:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:31:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:31:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:31:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:31:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:31:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122441m	[env.py: 870]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:31:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84404402 -0.87860322 -0.12244123] yaw=-90.1deg	[env.py: 1019]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64451967 -0.86542376 -0.12244123] yaw=-66.8deg	[env.py: 1019]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:31:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.0ms, total=221.1ms	[env.py: 1075]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.844, -0.879, -0.122)	[env.py: 1079]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.1 deg	[env.py: 1082]
+05/13 22:31:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 22:31:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:31:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:31:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:31:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:31:42 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:31:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:31:42 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 22:31:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:31:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:31:44 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.276s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:31:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.604[m] 98.027[deg]	[grasp_sample.py: 539]
+05/13 22:31:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:31:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:31:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:31:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:06 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:32:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:32:06 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:32:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:32:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:32:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:32:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.41s (batch: 4.44s, save: 10.97s)	[pipeline.py: 300]
+05/13 22:32:22 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.38s:
+  episode_total: mean=98.48s, total=196.95s, count=2, min=3445.1ms, max=193508.7ms
+  sensor_polling: mean=439.0ms, total=131.69s, count=300, min=373.5ms, max=842.4ms
+  save_trajectories: mean=10.97s, total=10.97s, count=1, min=10972.0ms, max=10972.0ms
+  physics_step: mean=26.6ms, total=7.98s, count=300, min=21.1ms, max=65.9ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.4ms, max=4439.4ms
+  task_sampling: mean=689.7ms, total=1.38s, count=2, min=549.0ms, max=830.4ms
+  task_specific_sample: mean=685.8ms, total=1.37s, count=2, min=544.9ms, max=826.7ms
+  scene_randomize: mean=1.2ms, total=2.4ms, count=2, min=1.1ms, max=1.4ms
+  mj_forward_sync: mean=465.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  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 22:32:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:32:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124517m	[env.py: 870]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.81253139 -0.68873603 -0.12451691] yaw=-75.7deg	[env.py: 1019]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.77573919 -0.75441705 -0.12451691] yaw=-60.5deg	[env.py: 1019]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36314962 -1.09357046 -0.12451691] yaw=-33.2deg	[env.py: 1019]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=371.6ms, total=371.7ms	[env.py: 1075]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.813, -0.689, -0.125)	[env.py: 1079]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg	[env.py: 1082]
+05/13 22:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m	[env.py: 1086]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:25 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:25 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:32:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:32:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.605s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:32:27 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:32:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:32:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:32:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:32:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:32:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:32:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104490m	[env.py: 870]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:32:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35950759 -1.01081492 -0.10449039] yaw=-52.3deg	[env.py: 1019]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:32:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=268.8ms, total=268.8ms	[env.py: 1075]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.360, -1.011, -0.104)	[env.py: 1079]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg	[env.py: 1082]
+05/13 22:32:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:32:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:32:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:32:30 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:32:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:32:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:32:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:32:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:32:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:32 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.784s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:32:32 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.667[m] 83.433[deg]	[grasp_sample.py: 539]
+05/13 22:32:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:32:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:32:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:32:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:32:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:32:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:03 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:33:23 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:33:30 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:33:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:33:30 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:33:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:41 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:33:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:33:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:33:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:33:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.27s (batch: 5.95s, save: 10.32s)	[pipeline.py: 300]
+05/13 22:33:47 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.04s:
+  episode_total: mean=89.54s, total=179.07s, count=2, min=3393.3ms, max=175681.0ms
+  sensor_polling: mean=419.7ms, total=111.63s, count=266, min=361.1ms, max=749.0ms
+  save_trajectories: mean=10.32s, total=10.32s, count=1, min=10317.2ms, max=10317.2ms
+  physics_step: mean=26.1ms, total=6.95s, count=266, min=18.0ms, max=39.4ms
+  save_batch_prep: mean=5.95s, total=5.95s, count=1, min=5951.2ms, max=5951.2ms
+  task_sampling: mean=520.2ms, total=1.04s, count=2, min=437.8ms, max=602.6ms
+  task_specific_sample: mean=515.9ms, total=1.03s, count=2, min=433.8ms, max=598.0ms
+  scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.4ms, max=2.8ms
+  mj_forward_sync: mean=566.5us, total=1.1ms, count=2, min=0.4ms, max=0.7ms
+  policy_setup: mean=31.7us, 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 22:33:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:48 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:33:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:33:48 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:33:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:33:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:33:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:33:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:33:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:33:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:33:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117148m	[env.py: 870]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:33:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21025737 -1.19018946 -0.11714814] yaw=-39.7deg	[env.py: 1019]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16884205 -1.2348436  -0.11714814] yaw=-60.6deg	[env.py: 1019]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:33:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=215.0ms	[env.py: 1075]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.210, -1.190, -0.117)	[env.py: 1079]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg	[env.py: 1082]
+05/13 22:33:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m	[env.py: 1086]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:33:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:33:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:33:49 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:33:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:33:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:33:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:33:53 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:33:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:33:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:33:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:33:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.200s, found 106 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:33:54 INFO: [Worker 0] Feasibility-checked 242 grasps in 4.104s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:33:54 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.694[m] 79.774[deg]	[grasp_sample.py: 539]
+05/13 22:33:54 INFO: [Worker 0] Feasibility-checked 106 grasps in 0.705s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:33:54 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.042[m] 3.146[deg]	[grasp_sample.py: 539]
+05/13 22:33:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:33:54 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:33:54 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:55 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:33:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:33:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:33:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:33:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:33:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:33:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:33:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143526m	[env.py: 870]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:33:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -0.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.45522224 -0.77946916 -0.1435258 ] yaw=-72.1deg	[env.py: 1019]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.05339755 -1.25087129 -0.1435258 ] yaw=-51.3deg	[env.py: 1019]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:33:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=423.6ms, total=423.7ms	[env.py: 1075]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.455, -0.779, -0.144)	[env.py: 1079]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.1 deg	[env.py: 1082]
+05/13 22:33:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m	[env.py: 1086]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:33:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:33:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:33:58 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:33:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:33:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:33:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:33:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:33:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.674s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:01 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:34:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.72s (batch: 4.30s, save: 10.43s)	[pipeline.py: 300]
+05/13 22:34:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164382m	[env.py: 870]
+05/13 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17673703 -1.15971501 -0.16438231] yaw=-25.7deg	[env.py: 1019]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 91.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -16.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26266399 -1.14454866 -0.16438231] yaw=-45.3deg	[env.py: 1019]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=565.7ms, total=565.7ms	[env.py: 1075]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.160, -0.164)	[env.py: 1079]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.7 deg	[env.py: 1082]
+05/13 22:34:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m	[env.py: 1086]
+05/13 22:34:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:03 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=1.19s:
+  episode_total: mean=85.51s, total=171.02s, count=2, min=4922.1ms, max=166099.2ms
+  sensor_polling: mean=419.4ms, total=110.31s, count=263, min=362.9ms, max=752.0ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10427.3ms, max=10427.3ms
+  physics_step: mean=28.0ms, total=7.37s, count=263, min=17.4ms, max=95.9ms
+  save_batch_prep: mean=4.30s, total=4.30s, count=1, min=4296.6ms, max=4296.6ms
+  task_sampling: mean=595.8ms, total=1.19s, count=2, min=533.2ms, max=658.4ms
+  task_specific_sample: mean=592.1ms, total=1.18s, count=2, min=529.6ms, max=654.5ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.2ms, max=2.5ms
+  mj_forward_sync: mean=495.1us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:34:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:03 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:05 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 22:34:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185220m	[env.py: 870]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -125.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.81708841 -0.69673226 -0.18522017] yaw=-63.7deg	[env.py: 1019]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.83000994 -0.67206526 -0.18522017] yaw=-58.3deg	[env.py: 1019]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=229.0ms, total=229.1ms	[env.py: 1075]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.817, -0.697, -0.185)	[env.py: 1079]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg	[env.py: 1082]
+05/13 22:34:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:05 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:05 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:34:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:34:05 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 22:34:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:05 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 22:34:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:34:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.713s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:08 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180615m	[env.py: 870]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.69737996 -0.66405115 -0.18061545] yaw=-101.7deg	[env.py: 1019]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.00536019 -1.21915547 -0.18061545] yaw=0.0deg	[env.py: 1019]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04119796 -1.200512   -0.18061545] yaw=-58.8deg	[env.py: 1019]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=318.0ms, total=318.0ms	[env.py: 1075]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.697, -0.664, -0.181)	[env.py: 1079]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.7 deg	[env.py: 1082]
+05/13 22:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:10 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:12 INFO: [Worker 0] Feasibility-checked 234 grasps in 8.556s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:12 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.696[m] 85.147[deg]	[grasp_sample.py: 539]
+05/13 22:34:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:34:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:34:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:13 INFO: [Worker 0] Feasibility-checked 248 grasps in 2.746s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:13 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149350m	[env.py: 870]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -126.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=319.6ms, total=319.7ms	[env.py: 1105]
+05/13 22:34:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:34:15 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 22:34:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195675m	[env.py: 870]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -12.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=505.9ms, total=506.0ms	[env.py: 1105]
+05/13 22:34:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:34:17 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 22:34:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175130m	[env.py: 870]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00828767 -1.34753504 -0.17513027] yaw=-24.4deg	[env.py: 1019]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61224146 -0.94208845 -0.17513027] yaw=-93.3deg	[env.py: 1019]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.78463916 -0.8223499  -0.17513027] yaw=-77.8deg	[env.py: 1019]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=206.6ms, total=206.6ms	[env.py: 1075]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.008, -1.348, -0.175)	[env.py: 1079]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.4 deg	[env.py: 1082]
+05/13 22:34:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m	[env.py: 1086]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:34:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:34:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.10s (batch: 5.06s, save: 10.04s)	[pipeline.py: 300]
+05/13 22:34:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:21 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:21 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=0.54s:
+  episode_total: mean=159.91s, total=159.91s, count=1, min=159912.5ms, max=159912.5ms
+  sensor_polling: mean=414.1ms, total=106.02s, count=256, min=348.7ms, max=813.0ms
+  save_trajectories: mean=10.04s, total=10.04s, count=1, min=10039.3ms, max=10039.3ms
+  physics_step: mean=26.4ms, total=6.76s, count=256, min=16.7ms, max=94.4ms
+  save_batch_prep: mean=5.06s, total=5.06s, count=1, min=5060.5ms, max=5060.5ms
+  task_sampling: mean=538.7ms, total=538.7ms, count=1, min=538.7ms, max=538.7ms
+  task_specific_sample: mean=533.9ms, total=533.9ms, count=1, min=533.9ms, max=533.9ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=586.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:34:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:23 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 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159017m	[env.py: 870]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4045231  -0.90440824 -0.1590168 ] yaw=-69.8deg	[env.py: 1019]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.86693571 -0.75340633 -0.1590168 ] yaw=-96.5deg	[env.py: 1019]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.9ms, total=237.0ms	[env.py: 1075]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.405, -0.904, -0.159)	[env.py: 1079]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.8 deg	[env.py: 1082]
+05/13 22:34:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m	[env.py: 1086]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:24 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.697s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:24 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170591m	[env.py: 870]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17800476 -1.17803281 -0.17059107] yaw=-17.6deg	[env.py: 1019]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.42824038 -1.06620956 -0.17059107] yaw=-80.5deg	[env.py: 1019]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=304.3ms, total=304.4ms	[env.py: 1075]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.178, -0.171)	[env.py: 1079]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.6 deg	[env.py: 1082]
+05/13 22:34:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m	[env.py: 1086]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:26 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:29 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.727[m] 85.088[deg]	[grasp_sample.py: 539]
+05/13 22:34:30 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:34:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197226m	[env.py: 870]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35880164 -0.84302939 -0.19722577] yaw=-31.6deg	[env.py: 1019]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.05996014 -1.37026098 -0.19722577] yaw=-41.7deg	[env.py: 1019]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=510.1ms, total=510.1ms	[env.py: 1075]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.843, -0.197)	[env.py: 1079]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.6 deg	[env.py: 1082]
+05/13 22:34:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m	[env.py: 1086]
+05/13 22:34:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:32 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:35 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.585s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:34:35 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:34:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:34:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196796m	[env.py: 870]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.84782978 -0.89978248 -0.19679579] yaw=-61.4deg	[env.py: 1019]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.05232468 -1.24096092 -0.19679579] yaw=-54.0deg	[env.py: 1019]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23875092 -1.22918335 -0.19679579] yaw=-8.5deg	[env.py: 1019]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=173.8ms, total=173.8ms	[env.py: 1075]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.900, -0.197)	[env.py: 1079]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.4 deg	[env.py: 1082]
+05/13 22:34:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:37 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:34:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:38 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.092s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.625[m] 88.842[deg]	[grasp_sample.py: 539]
+05/13 22:34:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:34:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:34:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:40 INFO: [Worker 0] Feasibility-checked 242 grasps in 16.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:40 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.761[m] 97.096[deg]	[grasp_sample.py: 539]
+05/13 22:34:42 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:34:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:34:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:34:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:34:43 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 22:34:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:34:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180306m	[env.py: 870]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:34:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.7545477  -0.89771314 -0.18030649] yaw=-49.9deg	[env.py: 1019]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:34:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.3ms, retries=243.8ms, total=244.1ms	[env.py: 1075]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.755, -0.898, -0.180)	[env.py: 1079]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg	[env.py: 1082]
+05/13 22:34:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.856m	[env.py: 1086]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:34:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:34:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:34:44 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:34:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:34:44 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 22:34:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:34:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:34:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.196s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:34:45 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.665[m] 88.284[deg]	[grasp_sample.py: 539]
+05/13 22:34:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:34:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:34:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:34:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:34:55 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:35:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:13 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.445[m] 57.791[deg]	[grasp_sample.py: 539]
+05/13 22:35:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:14 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:14 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:19 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.226s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:19 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.477[m] 57.143[deg]	[grasp_sample.py: 539]
+05/13 22:35:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:23 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:35:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:35:23 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:35:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:31 INFO: [Worker 0] Object is not in grasp! 0.00123 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:35:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.182s, found 77 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:34 INFO: [Worker 0] Feasibility-checked 77 grasps in 2.875s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:34 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.034[m] 1.915[deg]	[grasp_sample.py: 539]
+05/13 22:35:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:34 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:34 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.477[m] 57.145[deg]	[grasp_sample.py: 539]
+05/13 22:35:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:37 INFO: [Worker 0] Feasibility-checked 234 grasps in 1.423s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:37 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.391[m] 54.743[deg]	[grasp_sample.py: 539]
+05/13 22:35:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:35:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:35:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.05s (batch: 4.63s, save: 11.43s)	[pipeline.py: 300]
+05/13 22:35:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:40 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=True episode_total=1.23s:
+  episode_total: mean=97.05s, total=194.10s, count=2, min=3564.8ms, max=190539.8ms
+  sensor_polling: mean=436.0ms, total=130.79s, count=300, min=377.2ms, max=816.3ms
+  save_trajectories: mean=11.43s, total=11.43s, count=1, min=11425.4ms, max=11425.4ms
+  physics_step: mean=26.5ms, total=7.94s, count=300, min=20.2ms, max=92.0ms
+  save_batch_prep: mean=4.63s, total=4.63s, count=1, min=4625.5ms, max=4625.5ms
+  task_sampling: mean=613.4ms, total=1.23s, count=2, min=545.6ms, max=681.2ms
+  task_specific_sample: mean=609.8ms, total=1.22s, count=2, min=542.4ms, max=677.1ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=443.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:35:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:35:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183290m	[env.py: 870]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -138.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63284505 -0.6833665  -0.18329024] yaw=-49.1deg	[env.py: 1019]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -160.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.8ms, total=232.8ms	[env.py: 1075]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.683, -0.183)	[env.py: 1079]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.1 deg	[env.py: 1082]
+05/13 22:35:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m	[env.py: 1086]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:41 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:45 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.812s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:35:45 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:35:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:35:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:35:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:35:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:35:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:35:46 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 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150979m	[env.py: 870]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:35:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53086212 -0.98977268 -0.15097942] yaw=-46.6deg	[env.py: 1019]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 11.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.76126837 -0.85289234 -0.15097942] yaw=-75.1deg	[env.py: 1019]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.08505999 -1.11767963 -0.15097942] yaw=-44.3deg	[env.py: 1019]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:35:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=442.0ms, total=442.0ms	[env.py: 1075]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.531, -0.990, -0.151)	[env.py: 1079]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.6 deg	[env.py: 1082]
+05/13 22:35:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m	[env.py: 1086]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:35:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:35:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:35:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:35:47 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:35:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:35:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:35:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:35:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:35:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:35:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:35:48 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.372s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.667[m] 85.727[deg]	[grasp_sample.py: 539]
+05/13 22:35:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:49 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:49 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:35:49 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.267s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:35:49 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.477[m] 57.145[deg]	[grasp_sample.py: 539]
+05/13 22:35:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:35:50 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:35:50 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:50 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:35:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:35:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:36:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:36:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:36:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:36:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:36:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:36:04 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:36:04 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=False episode_total=1.13s:
+  episode_total: mean=49.57s, total=99.14s, count=2, min=18762.5ms, max=80382.2ms
+  sensor_polling: mean=387.5ms, total=31.77s, count=82, min=356.7ms, max=482.0ms
+  physics_step: mean=20.5ms, total=1.68s, count=82, min=14.4ms, max=29.5ms
+  task_sampling: mean=563.4ms, total=1.13s, count=2, min=562.3ms, max=564.5ms
+  task_specific_sample: mean=558.7ms, total=1.12s, count=2, min=557.8ms, max=559.5ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.2ms, max=2.7ms
+  mj_forward_sync: mean=574.9us, total=1.1ms, count=2, min=0.5ms, max=0.7ms
+  policy_setup: mean=18.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:36:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:05 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132906m	[env.py: 870]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10105509 -1.06635749 -0.13290632] yaw=-30.3deg	[env.py: 1019]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14287939 -1.39865787 -0.13290632] yaw=-16.3deg	[env.py: 1019]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=362.9ms, total=363.0ms	[env.py: 1075]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.101, -1.066, -0.133)	[env.py: 1079]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.3 deg	[env.py: 1082]
+05/13 22:36:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/13 22:36:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:06 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:09 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.750s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:36:09 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:36:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138052m	[env.py: 870]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=312.5ms, total=312.6ms	[env.py: 1105]
+05/13 22:36:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:36:11 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:36:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152802m	[env.py: 870]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -122.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=259.3ms, total=259.3ms	[env.py: 1105]
+05/13 22:36:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:36:12 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:36:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193718m	[env.py: 870]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07367194 -1.2797853  -0.19371788] yaw=-48.9deg	[env.py: 1019]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.01924411 -1.26377776 -0.19371788] yaw=-30.8deg	[env.py: 1019]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.82961207 -0.86102888 -0.19371788] yaw=-96.8deg	[env.py: 1019]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=320.0ms, total=320.0ms	[env.py: 1075]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.074, -1.280, -0.194)	[env.py: 1079]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.9 deg	[env.py: 1082]
+05/13 22:36:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m	[env.py: 1086]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:14 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.619s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:36:17 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167968m	[env.py: 870]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 177.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=491.0ms, total=491.1ms	[env.py: 1105]
+05/13 22:36:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:36:19 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 22:36:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199779m	[env.py: 870]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 7.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07558801 -1.06492386 -0.19977905] yaw=-32.7deg	[env.py: 1019]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.3ms, total=266.4ms	[env.py: 1075]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -1.065, -0.200)	[env.py: 1079]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg	[env.py: 1082]
+05/13 22:36:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:21 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:24 INFO: [Worker 0] Feasibility-checked 239 grasps in 2.684s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:36:24 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:36:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:26 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 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169958m	[env.py: 870]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70868588 -0.802551   -0.1699584 ] yaw=-61.3deg	[env.py: 1019]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=318.9ms, total=318.9ms	[env.py: 1075]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.709, -0.803, -0.170)	[env.py: 1079]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/13 22:36:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.959m	[env.py: 1086]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:26 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.035s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:36:29 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.724[m] 83.393[deg]	[grasp_sample.py: 539]
+05/13 22:36:30 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:36:30 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:36:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:32 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 22:36:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127027m	[env.py: 870]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28305238 -1.25393228 -0.12702663] yaw=-26.5deg	[env.py: 1019]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=299.9ms, total=300.0ms	[env.py: 1075]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -1.254, -0.127)	[env.py: 1079]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.5 deg	[env.py: 1082]
+05/13 22:36:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:33 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:36 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.759s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:36:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.614[m] 88.603[deg]	[grasp_sample.py: 539]
+05/13 22:36:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:36:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:39 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 22:36:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:39 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 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106018m	[env.py: 870]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -125.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25850156 -0.99437362 -0.10601821] yaw=-36.9deg	[env.py: 1019]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.24208818 -1.15419012 -0.10601821] yaw=-66.2deg	[env.py: 1019]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16821516 -1.00751323 -0.10601821] yaw=-31.2deg	[env.py: 1019]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.1ms, total=197.2ms	[env.py: 1075]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -0.994, -0.106)	[env.py: 1079]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg	[env.py: 1082]
+05/13 22:36:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m	[env.py: 1086]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:39 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:39 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 22:36:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:43 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.920s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:36:43 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:36:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:36:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:36:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:36:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:36:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:36:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130284m	[env.py: 870]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:36:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51150892 -1.04559618 -0.1302843 ] yaw=-34.8deg	[env.py: 1019]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41314893 -0.85168443 -0.1302843 ] yaw=-45.3deg	[env.py: 1019]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56060469 -1.00480066 -0.1302843 ] yaw=-38.0deg	[env.py: 1019]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:36:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.8ms, total=138.9ms	[env.py: 1075]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -1.046, -0.130)	[env.py: 1079]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg	[env.py: 1082]
+05/13 22:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:36:45 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:36:45 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:36:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:36:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:36:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:36:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:36:47 INFO: [Worker 0] Feasibility-checked 236 grasps in 1.411s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:36:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.614[m] 76.590[deg]	[grasp_sample.py: 539]
+05/13 22:36:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:36:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:36:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:48 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 22:36:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:36:59 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:36:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:36:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:37:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:37:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:37:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:37:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.79s (batch: 6.24s, save: 11.54s)	[pipeline.py: 300]
+05/13 22:37:18 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=2.14s:
+  episode_total: mean=68.56s, total=205.68s, count=3, min=3668.6ms, max=195761.3ms
+  sensor_polling: mean=412.9ms, total=123.87s, count=300, min=365.3ms, max=785.8ms
+  save_trajectories: mean=11.54s, total=11.54s, count=1, min=11541.0ms, max=11541.0ms
+  physics_step: mean=24.4ms, total=7.31s, count=300, min=21.4ms, max=97.1ms
+  save_batch_prep: mean=6.24s, total=6.24s, count=1, min=6244.2ms, max=6244.2ms
+  task_sampling: mean=713.4ms, total=2.14s, count=3, min=551.0ms, max=848.0ms
+  task_specific_sample: mean=709.6ms, total=2.13s, count=3, min=547.0ms, max=845.2ms
+  scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.2ms, max=2.6ms
+  mj_forward_sync: mean=439.1us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=24.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:37:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142410m	[env.py: 870]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.643381   -0.72961132 -0.14240963] yaw=-101.0deg	[env.py: 1019]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1630849  -1.21297131 -0.14240963] yaw=-55.4deg	[env.py: 1019]
+05/13 22:37:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -89.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57201497 -0.81605899 -0.14240963] yaw=-76.8deg	[env.py: 1019]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=415.4ms, total=415.4ms	[env.py: 1075]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.643, -0.730, -0.142)	[env.py: 1079]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.0 deg	[env.py: 1082]
+05/13 22:37:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m	[env.py: 1086]
+05/13 22:37:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:21 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:37:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:24 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.637s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:37:24 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:37:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124826m	[env.py: 870]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.76240882 -0.94588723 -0.12482556] yaw=-80.8deg	[env.py: 1019]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8432538  -0.86668089 -0.12482556] yaw=-61.4deg	[env.py: 1019]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06334041 -1.3609117  -0.12482556] yaw=3.8deg	[env.py: 1019]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=366.1ms, total=366.1ms	[env.py: 1075]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.762, -0.946, -0.125)	[env.py: 1079]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.8 deg	[env.py: 1082]
+05/13 22:37:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.807m	[env.py: 1086]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:26 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:37:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.776s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:37:29 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.590[m] 92.507[deg]	[grasp_sample.py: 539]
+05/13 22:37:31 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:37:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150033m	[env.py: 870]
+05/13 22:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=416.7ms, total=416.8ms	[env.py: 1105]
+05/13 22:37:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:37:33 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:37:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125769m	[env.py: 870]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59358041 -0.71431944 -0.12576881] yaw=-44.8deg	[env.py: 1019]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61393355 -0.85399981 -0.12576881] yaw=-41.7deg	[env.py: 1019]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=359.7ms, total=359.7ms	[env.py: 1075]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.714, -0.126)	[env.py: 1079]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.8 deg	[env.py: 1082]
+05/13 22:37:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:36 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.205s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:36 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 22:37:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.732s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:37:39 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:37:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133158m	[env.py: 870]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=554.7ms, total=554.7ms	[env.py: 1105]
+05/13 22:37:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:37:41 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 22:37:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:44 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189819m	[env.py: 870]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75056588 -0.72026699 -0.1898186 ] yaw=-95.1deg	[env.py: 1019]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40377015 -0.80276114 -0.1898186 ] yaw=-41.1deg	[env.py: 1019]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72444487 -0.85424464 -0.1898186 ] yaw=-92.4deg	[env.py: 1019]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=335.9ms, total=336.0ms	[env.py: 1075]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.751, -0.720, -0.190)	[env.py: 1079]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.1 deg	[env.py: 1082]
+05/13 22:37:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:44 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:37:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:48 INFO: [Worker 0] Feasibility-checked 246 grasps in 3.474s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:37:48 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.754[m] 90.113[deg]	[grasp_sample.py: 539]
+05/13 22:37:50 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:37:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:37:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131057m	[env.py: 870]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75404572 -0.66436261 -0.13105718] yaw=-54.2deg	[env.py: 1019]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=356.2ms, total=356.3ms	[env.py: 1075]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.664, -0.131)	[env.py: 1079]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg	[env.py: 1082]
+05/13 22:37:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:52 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.154s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:37:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:37:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:37:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.778s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:37:56 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:37:56 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:37:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:37:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:37:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:37:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:37:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:37:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186442m	[env.py: 870]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:37:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09672536 -1.13214171 -0.18644199] yaw=-46.8deg	[env.py: 1019]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27364647 -1.29631072 -0.18644199] yaw=-34.1deg	[env.py: 1019]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.43289681 -0.92468114 -0.18644199] yaw=-79.9deg	[env.py: 1019]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:37:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=198.7ms, total=198.8ms	[env.py: 1075]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.132, -0.186)	[env.py: 1079]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg	[env.py: 1082]
+05/13 22:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m	[env.py: 1086]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:37:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:37:58 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:37:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.188s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:37:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:37:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:37:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.644s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:38:01 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:38:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:03 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 22:38:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168307m	[env.py: 870]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.55812797 -0.96147218 -0.16830685] yaw=-43.2deg	[env.py: 1019]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=305.8ms, total=305.9ms	[env.py: 1075]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.961, -0.168)	[env.py: 1079]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg	[env.py: 1082]
+05/13 22:38:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:04 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:38:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.506s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:09 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.616[m] 78.025[deg]	[grasp_sample.py: 539]
+05/13 22:38:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:38:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:38:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:38:23 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:38:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:38:23 INFO: [Worker 0] Preparing episode data: 272 timesteps	[save_utils.py: 278]
+05/13 22:38:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:38:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:38:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.14s (batch: 4.35s, save: 9.78s)	[pipeline.py: 300]
+05/13 22:38:38 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.29s:
+  episode_total: mean=87.60s, total=175.21s, count=2, min=3634.4ms, max=171574.2ms
+  sensor_polling: mean=426.6ms, total=115.61s, count=271, min=363.3ms, max=812.3ms
+  save_trajectories: mean=9.78s, total=9.78s, count=1, min=9782.2ms, max=9782.2ms
+  physics_step: mean=25.1ms, total=6.79s, count=271, min=16.6ms, max=67.3ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4353.2ms, max=4353.2ms
+  task_sampling: mean=643.3ms, total=1.29s, count=2, min=546.4ms, max=740.3ms
+  task_specific_sample: mean=639.9ms, total=1.28s, count=2, min=542.6ms, max=737.2ms
+  scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms
+  mj_forward_sync: mean=437.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:38:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:38:39 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:38:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:38:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:38:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:38:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156190m	[env.py: 870]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:38:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27532754 -1.10442486 -0.15619037] yaw=-51.7deg	[env.py: 1019]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:38:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.6ms, total=205.7ms	[env.py: 1075]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.275, -1.104, -0.156)	[env.py: 1079]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.7 deg	[env.py: 1082]
+05/13 22:38:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:38:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:38:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:38:39 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:38:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:38:40 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 22:38:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:38:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:38:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.522s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:42 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.644[m] 81.519[deg]	[grasp_sample.py: 539]
+05/13 22:38:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:38:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:38:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:38:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:38:44 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:38:59 INFO: [Worker 0] Feasibility-checked 232 grasps in 197.664s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:38:59 INFO: [Worker 0] Feasible grasp found 347 (originally 40): w/ 0.435[m] 139.299[deg]	[grasp_sample.py: 539]
+05/13 22:38:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:39:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:39:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:39:09 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:39:09 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=3.57s:
+  episode_total: mean=36.51s, total=292.10s, count=8, min=333.3ms, max=272376.5ms
+  sensor_polling: mean=418.4ms, total=44.35s, count=106, min=361.5ms, max=726.5ms
+  task_specific_sample: mean=548.1ms, total=4.38s, count=8, min=327.3ms, max=823.2ms
+  task_sampling: mean=594.5ms, total=3.57s, count=6, min=451.1ms, max=827.2ms
+  physics_step: mean=25.2ms, total=2.67s, count=106, min=16.5ms, max=63.7ms
+  task_sampling_failed: mean=424.2ms, total=848.5ms, count=2, min=333.3ms, max=515.2ms
+  scene_randomize: mean=1.8ms, total=14.2ms, count=8, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=507.4us, total=4.1ms, count=8, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.1us, 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 22:39:10 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:39:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:39:10 INFO: [Worker 0] Preparing episode data: 260 timesteps	[save_utils.py: 278]
+05/13 22:39:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:39:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:39:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:39:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115486m	[env.py: 870]
+05/13 22:39:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53623507 -1.01958869 -0.11548612] yaw=-49.0deg	[env.py: 1019]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51392457 -0.79590516 -0.11548612] yaw=-84.4deg	[env.py: 1019]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85673525 -0.70635264 -0.11548612] yaw=-64.9deg	[env.py: 1019]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=326.3ms, total=326.3ms	[env.py: 1075]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -1.020, -0.115)	[env.py: 1079]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg	[env.py: 1082]
+05/13 22:39:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m	[env.py: 1086]
+05/13 22:39:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:11 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:11 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 22:39:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.129s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:39:12 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.648[m] 91.188[deg]	[grasp_sample.py: 539]
+05/13 22:39:13 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:39:13 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:39:13 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:39:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:39:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.18s (batch: 4.67s, save: 9.51s)	[pipeline.py: 300]
+05/13 22:39:25 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=3.94s:
+  episode_total: mean=18.65s, total=186.47s, count=10, min=268.3ms, max=160341.0ms
+  sensor_polling: mean=402.9ms, total=104.36s, count=259, min=352.7ms, max=777.4ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9507.6ms, max=9507.6ms
+  physics_step: mean=24.7ms, total=6.39s, count=259, min=21.5ms, max=34.6ms
+  task_specific_sample: mean=500.0ms, total=5.00s, count=10, min=264.8ms, max=674.7ms
+  save_batch_prep: mean=4.67s, total=4.67s, count=1, min=4667.7ms, max=4667.7ms
+  task_sampling: mean=562.9ms, total=3.94s, count=7, min=378.4ms, max=677.6ms
+  task_sampling_failed: mean=364.0ms, total=1.09s, count=3, min=268.3ms, max=500.2ms
+  scene_randomize: mean=1.3ms, total=13.1ms, count=10, min=1.0ms, max=2.2ms
+  mj_forward_sync: mean=437.6us, total=4.4ms, count=10, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, total=0.1ms, count=7, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:39:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:39:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:39:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:39:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:39:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:39:27 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 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151272m	[env.py: 870]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:39:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.3342265  -1.19819384 -0.15127243] yaw=-19.3deg	[env.py: 1019]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53132599 -0.90247531 -0.15127243] yaw=-85.8deg	[env.py: 1019]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17301966 -1.14474882 -0.15127243] yaw=-57.3deg	[env.py: 1019]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:39:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=230.4ms, total=230.4ms	[env.py: 1075]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.334, -1.198, -0.151)	[env.py: 1079]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.3 deg	[env.py: 1082]
+05/13 22:39:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:39:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:39:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:39:27 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:39:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.227s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:39:28 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 22:39:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:39:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:39:35 INFO: [Worker 0] Feasibility-checked 234 grasps in 7.244s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:39:35 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.644[m] 90.602[deg]	[grasp_sample.py: 539]
+05/13 22:39:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:39:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:39:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:39:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:39:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:39:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:04 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:40:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:40:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:32 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:40:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:40:32 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 22:40:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:40:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:40:44 INFO: [Worker 0] Worker 0 house 1 episode 29 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:40:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:40:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:40:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.36s (batch: 5.92s, save: 10.44s)	[pipeline.py: 300]
+05/13 22:40:49 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=4.83s:
+  episode_total: mean=21.43s, total=192.86s, count=9, min=429.5ms, max=166056.0ms
+  sensor_polling: mean=409.0ms, total=105.51s, count=258, min=362.4ms, max=859.7ms
+  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10439.6ms, max=10439.6ms
+  physics_step: mean=24.7ms, total=6.38s, count=258, min=18.9ms, max=62.2ms
+  save_batch_prep: mean=5.92s, total=5.92s, count=1, min=5919.0ms, max=5919.0ms
+  task_specific_sample: mean=643.0ms, total=5.79s, count=9, min=423.3ms, max=856.9ms
+  task_sampling: mean=689.9ms, total=4.83s, count=7, min=543.8ms, max=861.1ms
+  task_sampling_failed: mean=498.1ms, total=996.3ms, count=2, min=429.4ms, max=566.8ms
+  scene_randomize: mean=1.9ms, total=16.8ms, count=9, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=477.0us, total=4.3ms, count=9, min=0.4ms, max=0.7ms
+  policy_setup: mean=23.3us, total=0.2ms, 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 22:40:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:40:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:40:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:40:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:40:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:40:51 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 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136524m	[env.py: 870]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:40:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22822327 -1.12866127 -0.13652391] yaw=-15.9deg	[env.py: 1019]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.69149173 -0.78981885 -0.13652391] yaw=-74.0deg	[env.py: 1019]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:40:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=244.9ms, total=245.0ms	[env.py: 1075]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.228, -1.129, -0.137)	[env.py: 1079]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.9 deg	[env.py: 1082]
+05/13 22:40:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:40:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:40:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:40:51 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:40:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:40:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:40:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:40:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:01 INFO: [Worker 0] Feasibility-checked 233 grasps in 9.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:01 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.735[m] 84.455[deg]	[grasp_sample.py: 539]
+05/13 22:41:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:41:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:41:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:41:09 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:41:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:41:09 INFO: [Worker 0] Preparing episode data: 263 timesteps	[save_utils.py: 278]
+05/13 22:41:18 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:41:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:41:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:41:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.22s (batch: 4.35s, save: 9.87s)	[pipeline.py: 300]
+05/13 22:41:24 INFO: [Worker 0] [PROFILE] Episode 29 house 1 success=True episode_total=0.51s:
+  episode_total: mean=164.71s, total=164.71s, count=1, min=164714.6ms, max=164714.6ms
+  sensor_polling: mean=427.6ms, total=112.04s, count=262, min=373.3ms, max=852.5ms
+  save_trajectories: mean=9.87s, total=9.87s, count=1, min=9869.3ms, max=9869.3ms
+  physics_step: mean=26.5ms, total=6.95s, count=262, min=16.4ms, max=72.7ms
+  save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4354.4ms, max=4354.4ms
+  task_sampling: mean=506.8ms, total=506.8ms, count=1, min=506.8ms, max=506.8ms
+  task_specific_sample: mean=502.8ms, total=502.8ms, count=1, min=502.8ms, max=502.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=439.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:41:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140347m	[env.py: 870]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2246095  -1.06720813 -0.14034664] yaw=-70.5deg	[env.py: 1019]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67120169 -0.94744782 -0.14034664] yaw=-85.8deg	[env.py: 1019]
+05/13 22:41:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=318.0ms, total=318.0ms	[env.py: 1075]
+05/13 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.067, -0.140)	[env.py: 1079]
+05/13 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.5 deg	[env.py: 1082]
+05/13 22:41:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m	[env.py: 1086]
+05/13 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:26 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:41:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:29 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.679s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:29 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.738[m] 89.021[deg]	[grasp_sample.py: 539]
+05/13 22:41:30 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:41:31 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:41:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:32 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 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158624m	[env.py: 870]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29369988 -0.87548517 -0.15862388] yaw=-40.8deg	[env.py: 1019]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02428653 -1.16815218 -0.15862388] yaw=-24.9deg	[env.py: 1019]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -134.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10565797 -1.12944276 -0.15862388] yaw=-12.1deg	[env.py: 1019]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.0ms, total=169.0ms	[env.py: 1075]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.294, -0.875, -0.159)	[env.py: 1079]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.8 deg	[env.py: 1082]
+05/13 22:41:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:32 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:41:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:35 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.403s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:41:35 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:41:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104621m	[env.py: 870]
+05/13 22:41:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17262089 -1.44912448 -0.10462076] yaw=-11.4deg	[env.py: 1019]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50239756 -0.9966322  -0.10462076] yaw=-66.9deg	[env.py: 1019]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=913.6ms, total=913.6ms	[env.py: 1075]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.449, -0.105)	[env.py: 1079]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.4 deg	[env.py: 1082]
+05/13 22:41:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m	[env.py: 1086]
+05/13 22:41:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:37 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:38 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 22:41:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:41 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.941s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:41 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.599[m] 79.851[deg]	[grasp_sample.py: 539]
+05/13 22:41:42 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168815m	[env.py: 870]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63543871 -0.80466618 -0.16881509] yaw=-99.1deg	[env.py: 1019]
+05/13 22:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=337.4ms, total=337.5ms	[env.py: 1075]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.635, -0.805, -0.169)	[env.py: 1079]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.1 deg	[env.py: 1082]
+05/13 22:41:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.978m	[env.py: 1086]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:44 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:41:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:46 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:41:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:41:46 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:41:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.115s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:50 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.773[m] 91.563[deg]	[grasp_sample.py: 539]
+05/13 22:41:51 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:41:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:41:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:41:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:41:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:41:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:41:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187675m	[env.py: 870]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:41:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30169553 -1.08924731 -0.18767513] yaw=-43.2deg	[env.py: 1019]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16698148 -1.37102679 -0.18767513] yaw=-46.8deg	[env.py: 1019]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35429619 -0.97531868 -0.18767513] yaw=-31.4deg	[env.py: 1019]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:41:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.7ms, total=174.7ms	[env.py: 1075]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.089, -0.188)	[env.py: 1079]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.2 deg	[env.py: 1082]
+05/13 22:41:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:41:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:41:53 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:41:53 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:41:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:41:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:41:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:41:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 239 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:41:55 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:41:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:41:55 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:41:59 INFO: [Worker 0] Feasibility-checked 239 grasps in 5.230s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:41:59 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.653[m] 78.787[deg]	[grasp_sample.py: 539]
+05/13 22:41:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:42:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:42:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.72s (batch: 4.23s, save: 10.49s)	[pipeline.py: 300]
+05/13 22:42:01 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.62s:
+  episode_total: mean=170.64s, total=170.64s, count=1, min=170637.9ms, max=170637.9ms
+  sensor_polling: mean=417.7ms, total=111.11s, count=266, min=355.6ms, max=862.8ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10489.9ms, max=10489.9ms
+  physics_step: mean=26.1ms, total=6.93s, count=266, min=16.4ms, max=37.5ms
+  save_batch_prep: mean=4.23s, total=4.23s, count=1, min=4226.1ms, max=4226.1ms
+  task_sampling: mean=621.6ms, total=621.6ms, count=1, min=621.6ms, max=621.6ms
+  task_specific_sample: mean=618.7ms, total=618.7ms, count=1, min=618.7ms, max=618.7ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=429.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:42:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181411m	[env.py: 870]
+05/13 22:42:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33844017 -1.01486855 -0.18141099] yaw=-35.1deg	[env.py: 1019]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.6ms, total=239.6ms	[env.py: 1075]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.015, -0.181)	[env.py: 1079]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg	[env.py: 1082]
+05/13 22:42:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m	[env.py: 1086]
+05/13 22:42:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:03 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 237 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:06 INFO: [Worker 0] Feasibility-checked 237 grasps in 2.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:06 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.693[m] 90.265[deg]	[grasp_sample.py: 539]
+05/13 22:42:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:07 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:07 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:07 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 22:42:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:42:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:42:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.76s (batch: 4.17s, save: 10.59s)	[pipeline.py: 300]
+05/13 22:42:11 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.67s:
+  episode_total: mean=164.30s, total=164.30s, count=1, min=164303.4ms, max=164303.4ms
+  sensor_polling: mean=399.0ms, total=106.15s, count=266, min=356.6ms, max=798.0ms
+  save_trajectories: mean=10.59s, total=10.59s, count=1, min=10589.7ms, max=10589.7ms
+  physics_step: mean=24.8ms, total=6.60s, count=266, min=17.2ms, max=39.2ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4170.5ms, max=4170.5ms
+  task_sampling: mean=673.1ms, total=673.1ms, count=1, min=673.1ms, max=673.1ms
+  task_specific_sample: mean=669.0ms, total=669.0ms, count=1, min=669.0ms, max=669.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=450.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:42:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164384m	[env.py: 870]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44143035 -0.90188616 -0.164384  ] yaw=-68.0deg	[env.py: 1019]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.9ms	[env.py: 1075]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.902, -0.164)	[env.py: 1079]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.0 deg	[env.py: 1082]
+05/13 22:42:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:13 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.206s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:42:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.030s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:17 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.710[m] 96.980[deg]	[grasp_sample.py: 539]
+05/13 22:42:18 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180477m	[env.py: 870]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=257.8ms, total=257.8ms	[env.py: 1105]
+05/13 22:42:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:42:19 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 22:42:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188367m	[env.py: 870]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 14.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15966643 -1.20708788 -0.18836701] yaw=-13.4deg	[env.py: 1019]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=573.2ms, total=573.2ms	[env.py: 1075]
+05/13 22:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.160, -1.207, -0.188)	[env.py: 1079]
+05/13 22:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.4 deg	[env.py: 1082]
+05/13 22:42:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 22:42:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:22 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:30 INFO: [Worker 0] Feasibility-checked 236 grasps in 8.076s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:30 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.671[m] 92.082[deg]	[grasp_sample.py: 539]
+05/13 22:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:33 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 22:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:33 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 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124071m	[env.py: 870]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -86.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.86854646 -0.7500084  -0.12407083] yaw=-87.6deg	[env.py: 1019]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.9ms, total=207.9ms	[env.py: 1075]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.869, -0.750, -0.124)	[env.py: 1079]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.6 deg	[env.py: 1082]
+05/13 22:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/13 22:42:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:34 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:34 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 22:42:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.848s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:43 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.766[m] 101.090[deg]	[grasp_sample.py: 539]
+05/13 22:42:44 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:42:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161861m	[env.py: 870]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11205798 -1.22880703 -0.16186128] yaw=-51.9deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09780818 -1.35364146 -0.16186128] yaw=-5.1deg	[env.py: 1019]
+05/13 22:42:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=387.7ms, total=387.8ms	[env.py: 1075]
+05/13 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.229, -0.162)	[env.py: 1079]
+05/13 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.9 deg	[env.py: 1082]
+05/13 22:42:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:47 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.175s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:47 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 22:42:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.576s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:42:50 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:42:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:42:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:42:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:42:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:42:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:42:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:42:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131343m	[env.py: 870]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:42:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:42:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41828486 -1.05719593 -0.1313427 ] yaw=-68.2deg	[env.py: 1019]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -103.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15142438 -1.08877581 -0.1313427 ] yaw=-37.2deg	[env.py: 1019]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27096868 -1.27340263 -0.1313427 ] yaw=-20.6deg	[env.py: 1019]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:42:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=269.6ms, total=269.7ms	[env.py: 1075]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.057, -0.131)	[env.py: 1079]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.2 deg	[env.py: 1082]
+05/13 22:42:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m	[env.py: 1086]
+05/13 22:42:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:42:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:42:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:42:52 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:42:52 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:42:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:42:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:42:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:42:55 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.758s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:42:55 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.644[m] 94.278[deg]	[grasp_sample.py: 539]
+05/13 22:42:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:42:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:42:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:42:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:04 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:09 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:10 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:43:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:30 INFO: [Worker 0] Object is not in grasp! 0.00159 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:43:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:43:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.201s, found 101 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:43:30 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.648s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:43:30 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.041[m] 3.148[deg]	[grasp_sample.py: 539]
+05/13 22:43:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:43:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:43:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:38 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:43:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:43:38 INFO: [Worker 0] Preparing episode data: 286 timesteps	[save_utils.py: 278]
+05/13 22:43:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:43:46 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:43:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:43:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.63s (batch: 4.72s, save: 10.92s)	[pipeline.py: 300]
+05/13 22:43:54 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.56s:
+  episode_total: mean=183.51s, total=183.51s, count=1, min=183510.9ms, max=183510.9ms
+  sensor_polling: mean=414.8ms, total=118.22s, count=285, min=361.0ms, max=817.6ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10915.3ms, max=10915.3ms
+  physics_step: mean=25.5ms, total=7.28s, count=285, min=17.4ms, max=116.8ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4715.6ms, max=4715.6ms
+  task_sampling: mean=563.5ms, total=563.5ms, count=1, min=563.5ms, max=563.5ms
+  task_specific_sample: mean=559.4ms, total=559.4ms, count=1, min=559.4ms, max=559.4ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=31.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:43:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:43:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:43:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:43:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:43:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:43:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:43:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196849m	[env.py: 870]
+05/13 22:43:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:43:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -89.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05488399 -1.33514891 -0.19684874] yaw=0.7deg	[env.py: 1019]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 178.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.6ms, total=228.7ms	[env.py: 1075]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.055, -1.335, -0.197)	[env.py: 1079]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.7 deg	[env.py: 1082]
+05/13 22:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m	[env.py: 1086]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:43:57 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:43:57 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:43:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:43:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:43:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:43:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:00 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.639s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:00 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:00 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170950m	[env.py: 870]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -102.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=201.5ms, total=201.6ms	[env.py: 1105]
+05/13 22:44:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:44:02 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131879m	[env.py: 870]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.0662498  -1.41116198 -0.13187942] yaw=-3.8deg	[env.py: 1019]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.9ms	[env.py: 1075]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.411, -0.132)	[env.py: 1079]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.8 deg	[env.py: 1082]
+05/13 22:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:05 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:44:08 INFO: [Worker 0] Feasibility-checked 227 grasps in 2.588s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:08 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:09 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 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100000m	[env.py: 870]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=213.4ms, total=213.5ms	[env.py: 1105]
+05/13 22:44:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:44:10 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 22:44:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173969m	[env.py: 870]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=316.2ms, total=316.3ms	[env.py: 1105]
+05/13 22:44:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:44:12 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:44:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122650m	[env.py: 870]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.06814626 -1.32437822 -0.12264995] yaw=2.3deg	[env.py: 1019]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.21883948 -1.19418958 -0.12264995] yaw=-52.1deg	[env.py: 1019]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.0ms	[env.py: 1075]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.068, -1.324, -0.123)	[env.py: 1079]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 2.3 deg	[env.py: 1082]
+05/13 22:44:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m	[env.py: 1086]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:14 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:17 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.454s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:17 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:19 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:19 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 22:44:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:19 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 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144896m	[env.py: 870]
+05/13 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50210345 -1.00927292 -0.14489627] yaw=-61.0deg	[env.py: 1019]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11488853 -1.40275854 -0.14489627] yaw=-17.9deg	[env.py: 1019]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=474.4ms, total=474.5ms	[env.py: 1075]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -1.009, -0.145)	[env.py: 1079]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg	[env.py: 1082]
+05/13 22:44:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m	[env.py: 1086]
+05/13 22:44:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:20 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:20 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:20 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 22:44:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.640[m] 89.834[deg]	[grasp_sample.py: 539]
+05/13 22:44:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:44:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:44:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:44:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:44:26 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:44:26 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:44:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:44:26 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:44:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:44:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:44:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.32s (batch: 4.44s, save: 9.88s)	[pipeline.py: 300]
+05/13 22:44:41 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=3.34s:
+  episode_total: mean=38.05s, total=190.23s, count=5, min=3038.0ms, max=168436.2ms
+  sensor_polling: mean=426.4ms, total=112.13s, count=263, min=376.1ms, max=795.3ms
+  save_trajectories: mean=9.88s, total=9.88s, count=1, min=9884.9ms, max=9884.9ms
+  physics_step: mean=25.6ms, total=6.73s, count=263, min=17.2ms, max=60.3ms
+  save_batch_prep: mean=4.44s, total=4.44s, count=1, min=4439.0ms, max=4439.0ms
+  task_sampling: mean=668.8ms, total=3.34s, count=5, min=421.6ms, max=1196.8ms
+  task_specific_sample: mean=665.1ms, total=3.33s, count=5, min=418.1ms, max=1193.2ms
+  scene_randomize: mean=1.9ms, total=9.4ms, count=5, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=488.0us, total=2.4ms, count=5, min=0.4ms, max=0.7ms
+  policy_setup: mean=14.7us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:44:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177379m	[env.py: 870]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1465814  -1.42343309 -0.17737891] yaw=-19.0deg	[env.py: 1019]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5150604  -0.77677235 -0.17737891] yaw=-82.4deg	[env.py: 1019]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40163853 -0.94295741 -0.17737891] yaw=-78.8deg	[env.py: 1019]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.8ms	[env.py: 1075]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.147, -1.423, -0.177)	[env.py: 1079]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.0 deg	[env.py: 1082]
+05/13 22:44:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:44 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:51 INFO: [Worker 0] Feasibility-checked 231 grasps in 7.225s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:44:51 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.628[m] 84.225[deg]	[grasp_sample.py: 539]
+05/13 22:44:53 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:44:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:44:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118110m	[env.py: 870]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:54 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:44:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:44:54 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.52770372 -0.73984512 -0.11810968] yaw=-67.0deg	[env.py: 1019]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72884121 -0.82733833 -0.11810968] yaw=-56.9deg	[env.py: 1019]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32969268 -1.04970419 -0.11810968] yaw=-41.1deg	[env.py: 1019]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:44:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=129.0ms, total=129.1ms	[env.py: 1075]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.528, -0.740, -0.118)	[env.py: 1079]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/13 22:44:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.077m	[env.py: 1086]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:44:55 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:44:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:44:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:44:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:44:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:44:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.619s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:44:58 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:44:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:44:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:44:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:44:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:44:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:44:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:44:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:44:59 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 22:44:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:44:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127201m	[env.py: 870]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:44:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54769304 -1.01495292 -0.12720077] yaw=-38.5deg	[env.py: 1019]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:44:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=615.1ms, total=615.2ms	[env.py: 1075]
+05/13 22:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.548, -1.015, -0.127)	[env.py: 1079]
+05/13 22:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg	[env.py: 1082]
+05/13 22:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m	[env.py: 1086]
+05/13 22:45:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:00 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:01 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:45:01 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.138s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:01 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.636[m] 89.078[deg]	[grasp_sample.py: 539]
+05/13 22:45:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:02 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 22:45:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:45:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.32s (batch: 4.97s, save: 12.34s)	[pipeline.py: 300]
+05/13 22:45:13 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.55s:
+  episode_total: mean=190.08s, total=190.08s, count=1, min=190084.7ms, max=190084.7ms
+  sensor_polling: mean=426.8ms, total=128.04s, count=300, min=364.5ms, max=777.9ms
+  save_trajectories: mean=12.34s, total=12.34s, count=1, min=12343.2ms, max=12343.2ms
+  physics_step: mean=26.9ms, total=8.07s, count=300, min=17.0ms, max=97.0ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4972.1ms, max=4972.1ms
+  task_sampling: mean=549.8ms, total=549.8ms, count=1, min=549.8ms, max=549.8ms
+  task_specific_sample: mean=545.7ms, total=545.7ms, count=1, min=545.7ms, max=545.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=446.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:45:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138807m	[env.py: 870]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36197641 -0.91302504 -0.13880689] yaw=-55.6deg	[env.py: 1019]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63696695 -0.96021477 -0.13880689] yaw=-91.0deg	[env.py: 1019]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=297.6ms, total=297.6ms	[env.py: 1075]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.362, -0.913, -0.139)	[env.py: 1079]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg	[env.py: 1082]
+05/13 22:45:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m	[env.py: 1086]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:15 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:15 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:21 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.353s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:21 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.756[m] 88.489[deg]	[grasp_sample.py: 539]
+05/13 22:45:22 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:45:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159246m	[env.py: 870]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.05205823 -1.16596626 -0.15924569] yaw=-45.8deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.10820042 -1.32878433 -0.15924569] yaw=-7.2deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15897916 -1.27931462 -0.15924569] yaw=-7.1deg	[env.py: 1019]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=207.8ms, total=207.9ms	[env.py: 1075]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.052, -1.166, -0.159)	[env.py: 1079]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.8 deg	[env.py: 1082]
+05/13 22:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m	[env.py: 1086]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:24 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:26 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:45:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:45:26 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 22:45:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.501s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:45:27 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129833m	[env.py: 870]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.1773283  -1.06754997 -0.12983309] yaw=-29.5deg	[env.py: 1019]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.4ms, total=251.5ms	[env.py: 1075]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.068, -0.130)	[env.py: 1079]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.5 deg	[env.py: 1082]
+05/13 22:45:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m	[env.py: 1086]
+05/13 22:45:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:29 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:29 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 235 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:32 INFO: [Worker 0] Feasibility-checked 235 grasps in 2.689s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:45:32 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:45:33 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:45:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:33 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 22:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133524m	[env.py: 870]
+05/13 22:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=357.3ms, total=357.4ms	[env.py: 1105]
+05/13 22:45:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:45:34 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 22:45:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198753m	[env.py: 870]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20797853 -1.19499028 -0.19875324] yaw=-36.2deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35326064 -0.88624028 -0.19875324] yaw=-29.9deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13988948 -1.27494452 -0.19875324] yaw=-31.8deg	[env.py: 1019]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=299.1ms, total=299.1ms	[env.py: 1075]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.195, -0.199)	[env.py: 1079]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.2 deg	[env.py: 1082]
+05/13 22:45:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:36 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 0.949s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.632[m] 90.212[deg]	[grasp_sample.py: 539]
+05/13 22:45:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:38 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:45:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120604m	[env.py: 870]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=369.0ms, total=369.0ms	[env.py: 1105]
+05/13 22:45:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:45:40 ERROR: [Worker 0] Worker 0 house 1 episode 47 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 22:45:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:45:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:45:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.58s (batch: 4.32s, save: 10.25s)	[pipeline.py: 300]
+05/13 22:45:41 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=3.29s:
+  episode_total: mean=33.48s, total=200.85s, count=6, min=268.4ms, max=169853.4ms
+  sensor_polling: mean=426.4ms, total=111.28s, count=261, min=362.7ms, max=875.6ms
+  save_trajectories: mean=10.25s, total=10.25s, count=1, min=10253.3ms, max=10253.3ms
+  physics_step: mean=26.5ms, total=6.91s, count=261, min=21.6ms, max=69.1ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4323.4ms, max=4323.4ms
+  task_specific_sample: mean=588.4ms, total=3.53s, count=6, min=263.6ms, max=909.8ms
+  task_sampling: mean=657.1ms, total=3.29s, count=5, min=517.7ms, max=912.8ms
+  task_sampling_failed: mean=268.3ms, total=268.3ms, count=1, min=268.3ms, max=268.3ms
+  scene_randomize: mean=1.8ms, total=10.5ms, count=6, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=504.9us, total=3.0ms, count=6, min=0.4ms, max=0.6ms
+  policy_setup: mean=18.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:45:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136478m	[env.py: 870]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44999483 -1.04666574 -0.1364776 ] yaw=-37.2deg	[env.py: 1019]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.70864544 -0.81147164 -0.1364776 ] yaw=-86.8deg	[env.py: 1019]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25397338 -1.00293166 -0.1364776 ] yaw=-74.4deg	[env.py: 1019]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.1ms, total=181.2ms	[env.py: 1075]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.450, -1.047, -0.136)	[env.py: 1079]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg	[env.py: 1082]
+05/13 22:45:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:42 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:45:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:45:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:45:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:45:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:45:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123404m	[env.py: 870]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:45:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:45:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.046s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.636[m] 92.953[deg]	[grasp_sample.py: 539]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:45:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.88362099 -0.91361907 -0.12340412] yaw=-85.3deg	[env.py: 1019]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:45:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=292.3ms, total=292.4ms	[env.py: 1075]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.884, -0.914, -0.123)	[env.py: 1079]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.3 deg	[env.py: 1082]
+05/13 22:45:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m	[env.py: 1086]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:45:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:45:44 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:45:44 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:45:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:45:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:45:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:45:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:45:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:45:45 INFO: [Worker 0] Feasibility-checked 244 grasps in 1.191s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:45:45 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.592[m] 100.473[deg]	[grasp_sample.py: 539]
+05/13 22:45:45 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:45:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:45:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:45:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:46:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:16 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.285s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:16 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.467[m] 73.315[deg]	[grasp_sample.py: 539]
+05/13 22:46:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:16 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:46:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:29 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:46:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.738s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.467[m] 73.316[deg]	[grasp_sample.py: 539]
+05/13 22:46:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:46:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:46:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:46:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:46:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:46:47 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.732s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:46:47 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.467[m] 73.316[deg]	[grasp_sample.py: 539]
+05/13 22:46:48 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:46:48 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:46:48 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:46:48 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:46:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:56 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:46:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:46:56 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 22:46:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:47:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:47:01 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:47:02 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:47:02 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=False episode_total=0.64s:
+  episode_total: mean=78.74s, total=78.74s, count=1, min=78736.7ms, max=78736.7ms
+  sensor_polling: mean=424.8ms, total=28.88s, count=68, min=380.5ms, max=592.5ms
+  physics_step: mean=21.1ms, total=1.44s, count=68, min=14.4ms, max=29.3ms
+  task_sampling: mean=635.2ms, total=635.2ms, count=1, min=635.2ms, max=635.2ms
+  task_specific_sample: mean=630.6ms, total=630.6ms, count=1, min=630.6ms, max=630.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=584.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=14.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:47:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175360m	[env.py: 870]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12863429 -1.18282236 -0.17535972] yaw=-52.2deg	[env.py: 1019]
+05/13 22:47:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10174261 -1.08535709 -0.17535972] yaw=-52.4deg	[env.py: 1019]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23048117 -1.21201529 -0.17535972] yaw=-46.1deg	[env.py: 1019]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=115.8ms, total=115.8ms	[env.py: 1075]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.129, -1.183, -0.175)	[env.py: 1079]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.2 deg	[env.py: 1082]
+05/13 22:47:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:47:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:04 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:47:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:47:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.44s (batch: 4.47s, save: 9.97s)	[pipeline.py: 300]
+05/13 22:47:11 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.803s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:11 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:47:11 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=2.42s:
+  episode_total: mean=26.11s, total=182.75s, count=7, min=212.5ms, max=171882.3ms
+  sensor_polling: mean=424.5ms, total=111.63s, count=263, min=358.1ms, max=893.4ms
+  save_trajectories: mean=9.97s, total=9.97s, count=1, min=9969.2ms, max=9969.2ms
+  physics_step: mean=26.4ms, total=6.93s, count=263, min=21.5ms, max=103.7ms
+  save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4471.9ms, max=4471.9ms
+  task_specific_sample: mean=450.1ms, total=3.15s, count=7, min=207.5ms, max=764.4ms
+  task_sampling: mean=603.8ms, total=2.42s, count=4, min=508.8ms, max=768.3ms
+  task_sampling_failed: mean=254.3ms, total=762.8ms, count=3, min=212.5ms, max=327.5ms
+  scene_randomize: mean=1.6ms, total=11.5ms, count=7, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=456.0us, total=3.2ms, count=7, min=0.4ms, max=0.6ms
+  policy_setup: mean=25.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:47:11 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:47:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131346m	[env.py: 870]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61091405 -0.91605976 -0.13134593] yaw=-88.9deg	[env.py: 1019]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140453m	[env.py: 870]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -158.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27210786 -0.97896827 -0.13134593] yaw=-24.8deg	[env.py: 1019]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=536.8ms, total=536.9ms	[env.py: 1075]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.916, -0.131)	[env.py: 1079]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.9 deg	[env.py: 1082]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m	[env.py: 1086]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.25873096 -1.14509425 -0.14045347] yaw=-57.8deg	[env.py: 1019]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.7115227  -0.94157186 -0.14045347] yaw=-66.8deg	[env.py: 1019]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=600.0ms, total=600.0ms	[env.py: 1075]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.259, -1.145, -0.140)	[env.py: 1079]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg	[env.py: 1082]
+05/13 22:47:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m	[env.py: 1086]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:14 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:14 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:18 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.381s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:18 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.682[m] 83.761[deg]	[grasp_sample.py: 539]
+05/13 22:47:19 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184689m	[env.py: 870]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2659006  -1.24295013 -0.18468917] yaw=-58.5deg	[env.py: 1019]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=335.7ms, total=335.8ms	[env.py: 1075]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -1.243, -0.185)	[env.py: 1079]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg	[env.py: 1082]
+05/13 22:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m	[env.py: 1086]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:22 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:26 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.937s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:26 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.603[m] 90.362[deg]	[grasp_sample.py: 539]
+05/13 22:47:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:47:32 INFO: [Worker 0] Feasibility-checked 242 grasps in 17.551s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:32 INFO: [Worker 0] Feasible grasp found 58 (originally 58): w/ 0.665[m] 111.190[deg]	[grasp_sample.py: 539]
+05/13 22:47:33 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:47:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178511m	[env.py: 870]
+05/13 22:47:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.02693784 -1.23847541 -0.17851092] yaw=-2.9deg	[env.py: 1019]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=266.7ms, total=266.7ms	[env.py: 1075]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.027, -1.238, -0.179)	[env.py: 1079]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.9 deg	[env.py: 1082]
+05/13 22:47:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 22:47:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:36 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:37 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:47:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:47:37 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 22:47:39 INFO: [Worker 0] Feasibility-checked 232 grasps in 2.515s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:47:39 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:47:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166891m	[env.py: 870]
+05/13 22:47:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.69849562 -0.87016621 -0.1668909 ] yaw=-72.0deg	[env.py: 1019]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.81425659 -0.91466399 -0.1668909 ] yaw=-62.3deg	[env.py: 1019]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34431812 -1.00796846 -0.1668909 ] yaw=-39.7deg	[env.py: 1019]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.9ms, total=205.0ms	[env.py: 1075]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.698, -0.870, -0.167)	[env.py: 1079]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg	[env.py: 1082]
+05/13 22:47:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 22:47:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:41 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:41 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:41 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:47:42 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.184s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:42 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.647[m] 86.064[deg]	[grasp_sample.py: 539]
+05/13 22:47:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:47:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:47:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:47:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:47:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:47:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:47:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.14s (batch: 4.46s, save: 10.68s)	[pipeline.py: 300]
+05/13 22:47:53 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=1.88s:
+  episode_total: mean=62.19s, total=186.56s, count=3, min=3278.3ms, max=173749.8ms
+  sensor_polling: mean=441.4ms, total=116.97s, count=265, min=373.2ms, max=853.0ms
+  save_trajectories: mean=10.68s, total=10.68s, count=1, min=10684.7ms, max=10684.7ms
+  physics_step: mean=26.5ms, total=7.02s, count=265, min=17.4ms, max=95.6ms
+  save_batch_prep: mean=4.46s, total=4.46s, count=1, min=4455.7ms, max=4455.7ms
+  task_sampling: mean=625.6ms, total=1.88s, count=3, min=412.4ms, max=908.1ms
+  task_specific_sample: mean=621.5ms, total=1.86s, count=3, min=409.3ms, max=903.8ms
+  scene_randomize: mean=2.2ms, total=6.7ms, count=3, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=477.3us, total=1.4ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:47:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:47:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:47:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:47:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:47:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:47:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:47:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188050m	[env.py: 870]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:47:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.23617859 -1.04273485 -0.18804954] yaw=-35.4deg	[env.py: 1019]
+05/13 22:47:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.20302373 -1.42457051 -0.18804954] yaw=-1.2deg	[env.py: 1019]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.19452113 -1.36278409 -0.18804954] yaw=-52.0deg	[env.py: 1019]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:47:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=155.4ms, total=155.5ms	[env.py: 1075]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.236, -1.043, -0.188)	[env.py: 1079]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg	[env.py: 1082]
+05/13 22:47:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/13 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:47:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:47:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:47:55 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:47:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:47:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:47:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:47:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:47:58 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.967s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:47:58 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.690[m] 86.590[deg]	[grasp_sample.py: 539]
+05/13 22:48:00 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:48:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:01 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 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129298m	[env.py: 870]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17886082 -0.99449634 -0.1292982 ] yaw=-42.9deg	[env.py: 1019]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -44.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.6ms, total=224.6ms	[env.py: 1075]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -0.994, -0.129)	[env.py: 1079]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg	[env.py: 1082]
+05/13 22:48:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.066m	[env.py: 1086]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:01 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:04 INFO: [Worker 0] Feasibility-checked 236 grasps in 2.607s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:48:04 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:48:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157247m	[env.py: 870]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39886197 -1.07181086 -0.15724703] yaw=-68.6deg	[env.py: 1019]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.66753202 -0.72182999 -0.15724703] yaw=-59.6deg	[env.py: 1019]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.2ms, total=233.3ms	[env.py: 1075]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -1.072, -0.157)	[env.py: 1079]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg	[env.py: 1082]
+05/13 22:48:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m	[env.py: 1086]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:07 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:09 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:48:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:48:09 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:48:09 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.498s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.621[m] 82.605[deg]	[grasp_sample.py: 539]
+05/13 22:48:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:48:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:48:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:48:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.74s (batch: 4.68s, save: 10.06s)	[pipeline.py: 300]
+05/13 22:48:24 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=2.76s:
+  episode_total: mean=25.82s, total=180.73s, count=7, min=379.8ms, max=162650.8ms
+  sensor_polling: mean=411.6ms, total=108.66s, count=264, min=356.8ms, max=833.8ms
+  save_trajectories: mean=10.06s, total=10.06s, count=1, min=10057.0ms, max=10057.0ms
+  physics_step: mean=26.1ms, total=6.88s, count=264, min=20.9ms, max=90.2ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4679.3ms, max=4679.3ms
+  task_specific_sample: mean=496.8ms, total=3.48s, count=7, min=362.9ms, max=698.3ms
+  task_sampling: mean=551.3ms, total=2.76s, count=5, min=435.1ms, max=702.8ms
+  task_sampling_failed: mean=381.9ms, total=763.7ms, count=2, min=379.8ms, max=383.9ms
+  scene_randomize: mean=1.7ms, total=11.9ms, count=7, min=1.1ms, max=3.0ms
+  mj_forward_sync: mean=437.6us, total=3.1ms, count=7, min=0.4ms, max=0.5ms
+  policy_setup: mean=19.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:48:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:48:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:48:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:48:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:48:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:48:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:48:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106458m	[env.py: 870]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:48:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:48:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.90538268 -0.86302749 -0.10645782] yaw=-75.8deg	[env.py: 1019]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44451023 -0.8259682  -0.10645782] yaw=-77.6deg	[env.py: 1019]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05030612 -1.32377247 -0.10645782] yaw=-39.0deg	[env.py: 1019]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:48:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms	[env.py: 1075]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.905, -0.863, -0.106)	[env.py: 1079]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.8 deg	[env.py: 1082]
+05/13 22:48:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 22:48:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:48:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:48:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:48:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:48:26 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:48:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:48:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:48:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:48:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:48:28 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.829s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:48:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.660[m] 92.018[deg]	[grasp_sample.py: 539]
+05/13 22:48:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:48:28 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:48:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:29 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 22:48:39 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:48:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:55 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:48:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:48:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:04 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:04 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.343s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.516[m] 66.810[deg]	[grasp_sample.py: 539]
+05/13 22:49:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:49:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.308s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.516[m] 66.811[deg]	[grasp_sample.py: 539]
+05/13 22:49:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:20 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:49:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:22 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:33 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:49:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.191s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.516[m] 66.811[deg]	[grasp_sample.py: 539]
+05/13 22:49:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:45 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:49:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:49:45 INFO: [Worker 0] Preparing episode data: 254 timesteps	[save_utils.py: 278]
+05/13 22:49:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:49:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:49:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:49:48 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:49:48 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:49:48 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=False episode_total=0.52s:
+  episode_total: mean=82.63s, total=82.63s, count=1, min=82631.7ms, max=82631.7ms
+  sensor_polling: mean=452.9ms, total=32.61s, count=72, min=364.3ms, max=795.4ms
+  physics_step: mean=23.3ms, total=1.68s, count=72, min=14.4ms, max=36.2ms
+  task_sampling: mean=521.4ms, total=521.4ms, count=1, min=521.4ms, max=521.4ms
+  task_specific_sample: mean=517.3ms, total=517.3ms, count=1, min=517.3ms, max=517.3ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=434.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:49:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:49:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:49:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:49:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:49:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:49:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:49:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180081m	[env.py: 870]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:49:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 1.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.47523762 -1.00270083 -0.18008128] yaw=-36.1deg	[env.py: 1019]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 0.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35997061 -0.80285892 -0.18008128] yaw=-53.5deg	[env.py: 1019]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:49:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.6ms, total=210.7ms	[env.py: 1075]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.475, -1.003, -0.180)	[env.py: 1079]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.1 deg	[env.py: 1082]
+05/13 22:49:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m	[env.py: 1086]
+05/13 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:49:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:49:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:49:50 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:49:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:49:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:49:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:49:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:49:52 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.652s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:49:52 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.656[m] 76.778[deg]	[grasp_sample.py: 539]
+05/13 22:49:52 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:49:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:49:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:49:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:50:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:50:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.32s (batch: 5.75s, save: 9.57s)	[pipeline.py: 300]
+05/13 22:50:01 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=2.05s:
+  episode_total: mean=57.84s, total=173.53s, count=3, min=5849.2ms, max=160205.9ms
+  sensor_polling: mean=412.7ms, total=104.41s, count=253, min=359.9ms, max=825.8ms
+  save_trajectories: mean=9.57s, total=9.57s, count=1, min=9566.4ms, max=9566.4ms
+  physics_step: mean=25.7ms, total=6.51s, count=253, min=19.8ms, max=59.0ms
+  save_batch_prep: mean=5.75s, total=5.75s, count=1, min=5749.5ms, max=5749.5ms
+  task_sampling: mean=682.2ms, total=2.05s, count=3, min=402.0ms, max=966.0ms
+  task_specific_sample: mean=676.4ms, total=2.03s, count=3, min=397.9ms, max=956.6ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.4ms, max=2.5ms
+  mj_forward_sync: mean=488.2us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:50:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132706m	[env.py: 870]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81805469 -0.9339636  -0.13270611] yaw=-61.7deg	[env.py: 1019]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=245.7ms, total=245.8ms	[env.py: 1075]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.818, -0.934, -0.133)	[env.py: 1079]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg	[env.py: 1082]
+05/13 22:50:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m	[env.py: 1086]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:03 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:03 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.299s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.627[m] 85.606[deg]	[grasp_sample.py: 539]
+05/13 22:50:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:50:12 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:50:15 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:50:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:15 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 22:50:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:50:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.07s (batch: 4.88s, save: 10.19s)	[pipeline.py: 300]
+05/13 22:50:31 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=1.98s:
+  episode_total: mean=64.63s, total=193.89s, count=3, min=3362.1ms, max=170269.0ms
+  sensor_polling: mean=431.4ms, total=114.76s, count=266, min=359.0ms, max=793.5ms
+  save_trajectories: mean=10.19s, total=10.19s, count=1, min=10187.6ms, max=10187.6ms
+  physics_step: mean=26.7ms, total=7.10s, count=266, min=21.2ms, max=36.8ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4883.6ms, max=4883.6ms
+  task_sampling: mean=661.2ms, total=1.98s, count=3, min=459.4ms, max=939.0ms
+  task_specific_sample: mean=656.5ms, total=1.97s, count=3, min=456.5ms, max=933.9ms
+  scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.2ms, max=3.1ms
+  mj_forward_sync: mean=484.9us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=26.1us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:50:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144092m	[env.py: 870]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 68.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 12.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3275801  -1.13213462 -0.14409186] yaw=-35.6deg	[env.py: 1019]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=668.0ms, total=668.1ms	[env.py: 1075]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.328, -1.132, -0.144)	[env.py: 1079]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg	[env.py: 1082]
+05/13 22:50:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m	[env.py: 1086]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:34 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:34 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 22:50:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:50:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:37 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:50:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:50:37 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 22:50:39 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.729s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.480[m] 60.309[deg]	[grasp_sample.py: 539]
+05/13 22:50:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:44 INFO: [Worker 0] Feasibility-checked 244 grasps in 9.778s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:44 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.636[m] 89.675[deg]	[grasp_sample.py: 539]
+05/13 22:50:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:50:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:50:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:50:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:50:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:50:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.75s (batch: 4.39s, save: 10.35s)	[pipeline.py: 300]
+05/13 22:50:52 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=1.81s:
+  episode_total: mean=58.29s, total=174.86s, count=3, min=3313.7ms, max=166380.8ms
+  sensor_polling: mean=429.1ms, total=109.85s, count=256, min=384.9ms, max=789.8ms
+  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10353.9ms, max=10353.9ms
+  physics_step: mean=24.8ms, total=6.36s, count=256, min=16.4ms, max=59.9ms
+  save_batch_prep: mean=4.39s, total=4.39s, count=1, min=4392.5ms, max=4392.5ms
+  task_sampling: mean=604.1ms, total=1.81s, count=3, min=464.8ms, max=853.6ms
+  task_specific_sample: mean=600.5ms, total=1.80s, count=3, min=460.0ms, max=851.0ms
+  scene_randomize: mean=1.8ms, total=5.4ms, count=3, min=1.1ms, max=3.1ms
+  mj_forward_sync: mean=507.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  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 22:50:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:50:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:50:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:50:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:50:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182815m	[env.py: 870]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.09363471 -1.30223258 -0.18281521] yaw=-18.4deg	[env.py: 1019]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 63.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20840336 -1.26823152 -0.18281521] yaw=-27.6deg	[env.py: 1019]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:50:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=382.3ms, total=382.4ms	[env.py: 1075]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.094, -1.302, -0.183)	[env.py: 1079]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.4 deg	[env.py: 1082]
+05/13 22:50:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m	[env.py: 1086]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:54 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:50:54 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:50:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:50:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:50:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:50:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:50:56 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.963s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:50:56 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.476[m] 59.624[deg]	[grasp_sample.py: 539]
+05/13 22:50:58 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:50:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:50:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:50:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:50:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:50:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:50:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:50:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:50:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:50:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:50:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139336m	[env.py: 870]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:50:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:50:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=350.4ms, total=350.5ms	[env.py: 1105]
+05/13 22:50:59 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:50:59 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 22:51:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197217m	[env.py: 870]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=449.9ms, total=450.0ms	[env.py: 1105]
+05/13 22:51:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 22:51:02 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 22:51:02 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:03 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 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112567m	[env.py: 870]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43478041 -1.00485152 -0.11256722] yaw=-65.8deg	[env.py: 1019]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.84118301 -0.79676882 -0.11256722] yaw=-85.3deg	[env.py: 1019]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40039063 -0.93082997 -0.11256722] yaw=-43.3deg	[env.py: 1019]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=153.6ms, total=153.6ms	[env.py: 1075]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -1.005, -0.113)	[env.py: 1079]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg	[env.py: 1082]
+05/13 22:51:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m	[env.py: 1086]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:04 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:06 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:07 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.783s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:07 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.677[m] 94.687[deg]	[grasp_sample.py: 539]
+05/13 22:51:07 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:08 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:08 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:11 INFO: [Worker 0] Feasibility-checked 234 grasps in 16.731s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:11 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:51:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:51:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:51:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:51:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:51:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:51:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163256m	[env.py: 870]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:51:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 84.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.63323417 -0.7615968  -0.16325564] yaw=-98.6deg	[env.py: 1019]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:51:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=253.2ms, total=253.2ms	[env.py: 1075]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.762, -0.163)	[env.py: 1079]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg	[env.py: 1082]
+05/13 22:51:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m	[env.py: 1086]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:51:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:51:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:51:13 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:51:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:51:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:51:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:51:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:51:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.330s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:51:22 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.806[m] 95.459[deg]	[grasp_sample.py: 539]
+05/13 22:51:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:51:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:51:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:51:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:51:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:09 INFO: [Worker 0] Worker 0 house 1 episode 50 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:52:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:52:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:37 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:52:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:52:37 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 22:52:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:45 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:52:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:52:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:52:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:52:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.02s (batch: 4.71s, save: 10.31s)	[pipeline.py: 300]
+05/13 22:52:53 INFO: [Worker 0] [PROFILE] Episode 50 house 1 success=True episode_total=0.51s:
+  episode_total: mean=183.45s, total=183.45s, count=1, min=183447.1ms, max=183447.1ms
+  sensor_polling: mean=456.0ms, total=121.75s, count=267, min=356.3ms, max=907.7ms
+  save_trajectories: mean=10.31s, total=10.31s, count=1, min=10306.6ms, max=10306.6ms
+  physics_step: mean=28.9ms, total=7.70s, count=267, min=17.2ms, max=90.6ms
+  save_batch_prep: mean=4.71s, total=4.71s, count=1, min=4712.2ms, max=4712.2ms
+  task_sampling: mean=507.8ms, total=507.8ms, count=1, min=507.8ms, max=507.8ms
+  task_specific_sample: mean=504.2ms, total=504.2ms, count=1, min=504.2ms, max=504.2ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=428.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:52:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:52:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:52:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:52:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:52:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:52:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:52:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:52:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163917m	[env.py: 870]
+05/13 22:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:52:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:52:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49396567 -1.02278209 -0.16391737] yaw=-52.4deg	[env.py: 1019]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23136221 -1.15226645 -0.16391737] yaw=-30.4deg	[env.py: 1019]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:52:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=481.2ms, total=481.3ms	[env.py: 1075]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -1.023, -0.164)	[env.py: 1079]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.4 deg	[env.py: 1082]
+05/13 22:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:52:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:52:55 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:52:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:52:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:52:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:52:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:52:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.386s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.599[m] 94.869[deg]	[grasp_sample.py: 539]
+05/13 22:52:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:57 INFO: [Worker 0] Feasibility-checked 242 grasps in 3.367s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:52:57 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.105[m] 5.286[deg]	[grasp_sample.py: 539]
+05/13 22:52:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:52:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:52:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:52:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:11 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:53:11 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:53:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:11 INFO: [Worker 0] Preparing episode data: 266 timesteps	[save_utils.py: 278]
+05/13 22:53:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:53:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:22 INFO: [Worker 0] Feasibility-checked 234 grasps in 3.005s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:22 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.091[m] 3.563[deg]	[grasp_sample.py: 539]
+05/13 22:53:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:53:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.51s (batch: 5.18s, save: 10.33s)	[pipeline.py: 300]
+05/13 22:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:28 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.01s:
+  episode_total: mean=175.66s, total=175.66s, count=1, min=175660.2ms, max=175660.2ms
+  sensor_polling: mean=420.9ms, total=111.53s, count=265, min=359.5ms, max=772.8ms
+  save_trajectories: mean=10.33s, total=10.33s, count=1, min=10326.7ms, max=10326.7ms
+  physics_step: mean=26.1ms, total=6.91s, count=265, min=17.0ms, max=33.8ms
+  save_batch_prep: mean=5.18s, total=5.18s, count=1, min=5184.3ms, max=5184.3ms
+  task_sampling: mean=1.01s, total=1.01s, count=1, min=1010.0ms, max=1010.0ms
+  task_specific_sample: mean=1.01s, total=1.01s, count=1, min=1006.0ms, max=1006.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=446.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=27.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187322m	[env.py: 870]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34776448 -1.19774478 -0.18732176] yaw=-44.9deg	[env.py: 1019]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07739692 -1.42036024 -0.18732176] yaw=-18.3deg	[env.py: 1019]
+05/13 22:53:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47893041 -0.7711413  -0.18732176] yaw=-57.5deg	[env.py: 1019]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=563.0ms, total=563.1ms	[env.py: 1075]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.348, -1.198, -0.187)	[env.py: 1079]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg	[env.py: 1082]
+05/13 22:53:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:31 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:31 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:34 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.773s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.572[m] 89.474[deg]	[grasp_sample.py: 539]
+05/13 22:53:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:53:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:53:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:39 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:53:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:53:39 INFO: [Worker 0] Preparing episode data: 269 timesteps	[save_utils.py: 278]
+05/13 22:53:41 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.894s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:53:41 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.091[m] 3.564[deg]	[grasp_sample.py: 539]
+05/13 22:53:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:53:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:53:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:53:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:53:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.31s (batch: 4.48s, save: 9.83s)	[pipeline.py: 300]
+05/13 22:53:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:54 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.99s:
+  episode_total: mean=56.72s, total=226.88s, count=4, min=366.2ms, max=171230.1ms
+  sensor_polling: mean=405.2ms, total=130.47s, count=322, min=350.1ms, max=803.0ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9831.1ms, max=9831.1ms
+  physics_step: mean=25.5ms, total=8.22s, count=322, min=14.7ms, max=67.7ms
+  save_batch_prep: mean=4.48s, total=4.48s, count=1, min=4475.0ms, max=4475.0ms
+  task_specific_sample: mean=448.5ms, total=1.79s, count=4, min=356.7ms, max=547.5ms
+  task_sampling: mean=493.0ms, total=986.0ms, count=2, min=434.7ms, max=551.4ms
+  task_sampling_failed: mean=415.2ms, total=830.4ms, count=2, min=366.2ms, max=464.2ms
+  scene_randomize: mean=2.0ms, total=8.0ms, count=4, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=473.5us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:53:56 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:53:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:53:56 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:53:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:53:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:53:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:53:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102864m	[env.py: 870]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:53:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46468185 -0.84156476 -0.10286396] yaw=-55.5deg	[env.py: 1019]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.77990952 -0.67480359 -0.10286396] yaw=-85.8deg	[env.py: 1019]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:53:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=230.8ms, total=230.9ms	[env.py: 1075]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -0.842, -0.103)	[env.py: 1079]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg	[env.py: 1082]
+05/13 22:53:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m	[env.py: 1086]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:53:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:53:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:53:56 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:53:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:53:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:53:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:53:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.147s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:53:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:53:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:53:58 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 22:53:59 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 22:53:59 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=False episode_total=1.27s:
+  episode_total: mean=91.92s, total=183.84s, count=2, min=17744.7ms, max=166093.4ms
+  sensor_polling: mean=495.0ms, total=91.57s, count=185, min=384.3ms, max=898.5ms
+  physics_step: mean=27.6ms, total=5.11s, count=185, min=15.9ms, max=55.7ms
+  task_sampling: mean=634.9ms, total=1.27s, count=2, min=538.7ms, max=731.1ms
+  task_specific_sample: mean=630.5ms, total=1.26s, count=2, min=533.9ms, max=727.0ms
+  scene_randomize: mean=2.4ms, total=4.7ms, count=2, min=2.1ms, max=2.6ms
+  mj_forward_sync: mean=447.9us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:54:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140384m	[env.py: 870]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.44247694 -0.87394497 -0.14038383] yaw=-71.3deg	[env.py: 1019]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.56533181 -0.94284818 -0.14038383] yaw=-69.5deg	[env.py: 1019]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39049369 -1.10597819 -0.14038383] yaw=-71.4deg	[env.py: 1019]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=195.0ms, total=195.1ms	[env.py: 1075]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.442, -0.874, -0.140)	[env.py: 1079]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg	[env.py: 1082]
+05/13 22:54:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m	[env.py: 1086]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:01 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 8.237s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:05 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.771[m] 93.406[deg]	[grasp_sample.py: 539]
+05/13 22:54:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:54:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.376s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:08 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.734[m] 80.160[deg]	[grasp_sample.py: 539]
+05/13 22:54:09 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185829m	[env.py: 870]
+05/13 22:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06894436 -1.28461993 -0.18582949] yaw=-51.3deg	[env.py: 1019]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=285.3ms, total=285.3ms	[env.py: 1075]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.069, -1.285, -0.186)	[env.py: 1079]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.3 deg	[env.py: 1082]
+05/13 22:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:11 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:14 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.574s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:14 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:15 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 22:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145573m	[env.py: 870]
+05/13 22:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.41138717 -0.91541358 -0.14557277] yaw=-68.6deg	[env.py: 1019]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20276324 -1.15318338 -0.14557277] yaw=-22.8deg	[env.py: 1019]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27803364 -1.11912499 -0.14557277] yaw=-47.4deg	[env.py: 1019]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=272.0ms, total=272.1ms	[env.py: 1075]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.411, -0.915, -0.146)	[env.py: 1079]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.6 deg	[env.py: 1082]
+05/13 22:54:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m	[env.py: 1086]
+05/13 22:54:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:16 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:20 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:20 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.716[m] 84.564[deg]	[grasp_sample.py: 539]
+05/13 22:54:22 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114763m	[env.py: 870]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.86569955 -0.86727956 -0.1147635 ] yaw=-109.6deg	[env.py: 1019]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67533448 -0.76467928 -0.1147635 ] yaw=-64.9deg	[env.py: 1019]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23121882 -0.91671085 -0.1147635 ] yaw=-24.3deg	[env.py: 1019]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.1ms, total=181.1ms	[env.py: 1075]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.866, -0.867, -0.115)	[env.py: 1079]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.6 deg	[env.py: 1082]
+05/13 22:54:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:24 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:24 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.697s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:31 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.700[m] 104.228[deg]	[grasp_sample.py: 539]
+05/13 22:54:32 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:54:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:54:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111400m	[env.py: 870]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 163.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.68802364 -0.7196529  -0.11139988] yaw=-86.3deg	[env.py: 1019]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32915527 -0.85190703 -0.11139988] yaw=-77.0deg	[env.py: 1019]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.6ms, total=248.7ms	[env.py: 1075]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.688, -0.720, -0.111)	[env.py: 1079]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.3 deg	[env.py: 1082]
+05/13 22:54:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m	[env.py: 1086]
+05/13 22:54:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:34 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:37 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.597s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:54:37 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:54:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:54:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:54:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:54:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:54:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190911m	[env.py: 870]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:54:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39522287 -1.14089796 -0.19091116] yaw=-58.4deg	[env.py: 1019]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1860634  -1.08895519 -0.19091116] yaw=-59.8deg	[env.py: 1019]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25740115 -0.95363499 -0.19091116] yaw=-62.2deg	[env.py: 1019]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.6ms	[env.py: 1075]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.395, -1.141, -0.191)	[env.py: 1079]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 22:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m	[env.py: 1086]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:54:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:54:38 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:54:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:54:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:54:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:54:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:54:40 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.222s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:54:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.550[m] 85.001[deg]	[grasp_sample.py: 539]
+05/13 22:54:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:54:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:54:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:54:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:55:02 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:28 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:55:29 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:55:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:55:29 INFO: [Worker 0] Preparing episode data: 257 timesteps	[save_utils.py: 278]
+05/13 22:55:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:55:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 22:55:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:55:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.184s, found 131 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:40 INFO: [Worker 0] Feasibility-checked 131 grasps in 3.888s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:40 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 22:55:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174288m	[env.py: 870]
+05/13 22:55:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5032847  -1.06061737 -0.17428847] yaw=-42.3deg	[env.py: 1019]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=542.8ms, total=542.8ms	[env.py: 1075]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.503, -1.061, -0.174)	[env.py: 1079]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.3 deg	[env.py: 1082]
+05/13 22:55:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m	[env.py: 1086]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:42 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:55:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:55:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.92s (batch: 4.49s, save: 10.43s)	[pipeline.py: 300]
+05/13 22:55:44 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:44 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.604[m] 91.922[deg]	[grasp_sample.py: 539]
+05/13 22:55:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:55:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:55:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:45 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=0.79s:
+  episode_total: mean=170.25s, total=170.25s, count=1, min=170251.2ms, max=170251.2ms
+  sensor_polling: mean=430.2ms, total=110.14s, count=256, min=352.8ms, max=956.4ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10434.2ms, max=10434.2ms
+  physics_step: mean=26.5ms, total=6.77s, count=256, min=21.5ms, max=62.0ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4489.5ms, max=4489.5ms
+  task_sampling: mean=788.3ms, total=788.3ms, count=1, min=788.3ms, max=788.3ms
+  task_specific_sample: mean=784.3ms, total=784.3ms, count=1, min=784.3ms, max=784.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=486.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:55:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:55:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:46 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141729m	[env.py: 870]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -58.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27606819 -0.89841227 -0.14172862] yaw=-74.3deg	[env.py: 1019]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86712154 -0.91213647 -0.14172862] yaw=-77.5deg	[env.py: 1019]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.0ms, total=196.0ms	[env.py: 1075]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.898, -0.142)	[env.py: 1079]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.3 deg	[env.py: 1082]
+05/13 22:55:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m	[env.py: 1086]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:47 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:47 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:50 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.600s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:55:50 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:55:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:55:51 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:55:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:55:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:55:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:55:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192021m	[env.py: 870]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:55:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.46528944 -1.02080085 -0.19202075] yaw=-33.6deg	[env.py: 1019]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.26116427 -0.9112637  -0.19202075] yaw=-40.4deg	[env.py: 1019]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:55:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms	[env.py: 1075]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -1.021, -0.192)	[env.py: 1079]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.6 deg	[env.py: 1082]
+05/13 22:55:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m	[env.py: 1086]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:55:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:55:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:55:51 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:55:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:55:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:55:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:55:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:55:53 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.045s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:55:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.635[m] 89.199[deg]	[grasp_sample.py: 539]
+05/13 22:55:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:55:53 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:55:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:55:53 INFO: [Worker 0] Preparing episode data: 249 timesteps	[save_utils.py: 278]
+05/13 22:55:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:55:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:55:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:56:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:56:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:56:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.23s (batch: 4.49s, save: 9.74s)	[pipeline.py: 300]
+05/13 22:56:08 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.92s:
+  episode_total: mean=158.09s, total=158.09s, count=1, min=158094.6ms, max=158094.6ms
+  sensor_polling: mean=424.2ms, total=105.20s, count=248, min=368.1ms, max=891.8ms
+  save_trajectories: mean=9.74s, total=9.74s, count=1, min=9738.8ms, max=9738.8ms
+  physics_step: mean=25.8ms, total=6.40s, count=248, min=21.4ms, max=79.0ms
+  save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4492.4ms, max=4492.4ms
+  task_sampling: mean=920.0ms, total=920.0ms, count=1, min=920.0ms, max=920.0ms
+  task_specific_sample: mean=915.0ms, total=915.0ms, count=1, min=915.0ms, max=915.0ms
+  scene_randomize: mean=3.2ms, total=3.2ms, count=1, min=3.2ms, max=3.2ms
+  mj_forward_sync: mean=667.3us, total=0.7ms, count=1, min=0.7ms, max=0.7ms
+  policy_setup: mean=21.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:56:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140201m	[env.py: 870]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04837044 -1.30228139 -0.14020096] yaw=-33.3deg	[env.py: 1019]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=207.5ms, total=207.5ms	[env.py: 1075]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.048, -1.302, -0.140)	[env.py: 1079]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg	[env.py: 1082]
+05/13 22:56:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m	[env.py: 1086]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:11 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:11 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:14 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.708s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:14 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107613m	[env.py: 870]
+05/13 22:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.30789831 -0.86850239 -0.10761268] yaw=-74.8deg	[env.py: 1019]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=225.1ms, total=225.1ms	[env.py: 1075]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -0.869, -0.108)	[env.py: 1079]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.8 deg	[env.py: 1082]
+05/13 22:56:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m	[env.py: 1086]
+05/13 22:56:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:16 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.693s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:56:19 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:56:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148646m	[env.py: 870]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53394026 -0.92008206 -0.14864601] yaw=-84.6deg	[env.py: 1019]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.73032712 -0.75516521 -0.14864601] yaw=-91.1deg	[env.py: 1019]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.06002144 -1.30958557 -0.14864601] yaw=-41.9deg	[env.py: 1019]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=193.6ms, total=193.6ms	[env.py: 1075]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.920, -0.149)	[env.py: 1079]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.6 deg	[env.py: 1082]
+05/13 22:56:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m	[env.py: 1086]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:21 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.075s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:24 INFO: [Worker 0] Feasibility-checked 242 grasps in 2.865s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:24 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.679[m] 92.801[deg]	[grasp_sample.py: 539]
+05/13 22:56:26 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100692m	[env.py: 870]
+05/13 22:56:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39753362 -1.10130808 -0.10069162] yaw=-20.7deg	[env.py: 1019]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=538.6ms, total=538.7ms	[env.py: 1075]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.101, -0.101)	[env.py: 1079]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.7 deg	[env.py: 1082]
+05/13 22:56:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.838m	[env.py: 1086]
+05/13 22:56:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:28 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:28 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:31 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:56:31 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.771s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:31 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.718[m] 90.530[deg]	[grasp_sample.py: 539]
+05/13 22:56:33 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:56:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:56:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:56:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:56:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:56:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:56:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119144m	[env.py: 870]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:56:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15304985 -1.17970129 -0.11914418] yaw=-24.6deg	[env.py: 1019]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:56:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -108.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=639.7ms, total=639.8ms	[env.py: 1075]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.153, -1.180, -0.119)	[env.py: 1079]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.6 deg	[env.py: 1082]
+05/13 22:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m	[env.py: 1086]
+05/13 22:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:56:36 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:56:36 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:56:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:56:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:56:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:56:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:56:43 INFO: [Worker 0] Feasibility-checked 232 grasps in 6.366s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:56:43 INFO: [Worker 0] Feasible grasp found 311 (originally 4): w/ 0.725[m] 163.988[deg]	[grasp_sample.py: 539]
+05/13 22:56:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:56:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:56:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 22:56:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:56:56 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:56:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:56:56 INFO: [Worker 0] Preparing episode data: 243 timesteps	[save_utils.py: 278]
+05/13 22:56:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:56:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:57:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:57:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:57:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.77s (batch: 4.38s, save: 9.39s)	[pipeline.py: 300]
+05/13 22:57:10 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=3.15s:
+  episode_total: mean=30.42s, total=182.52s, count=6, min=3285.5ms, max=152270.2ms
+  sensor_polling: mean=424.5ms, total=102.72s, count=242, min=374.3ms, max=826.2ms
+  save_trajectories: mean=9.39s, total=9.39s, count=1, min=9387.3ms, max=9387.3ms
+  physics_step: mean=25.6ms, total=6.20s, count=242, min=16.3ms, max=81.9ms
+  save_batch_prep: mean=4.38s, total=4.38s, count=1, min=4384.5ms, max=4384.5ms
+  task_sampling: mean=524.5ms, total=3.15s, count=6, min=448.7ms, max=673.6ms
+  task_specific_sample: mean=521.3ms, total=3.13s, count=6, min=445.9ms, max=668.7ms
+  scene_randomize: mean=1.5ms, total=8.7ms, count=6, min=1.1ms, max=2.2ms
+  mj_forward_sync: mean=431.7us, total=2.6ms, count=6, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.2us, total=0.1ms, count=6, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:57:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:57:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:57:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:57:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:57:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:57:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124898m	[env.py: 870]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:57:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42929147 -1.02159266 -0.12489802] yaw=-75.4deg	[env.py: 1019]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16051523 -1.20909989 -0.12489802] yaw=-32.0deg	[env.py: 1019]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.45978724 -1.05455342 -0.12489802] yaw=-57.1deg	[env.py: 1019]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:57:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.7ms, total=153.7ms	[env.py: 1075]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.429, -1.022, -0.125)	[env.py: 1079]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.4 deg	[env.py: 1082]
+05/13 22:57:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m	[env.py: 1086]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:57:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:57:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:57:12 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:57:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:57:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.785s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.668[m] 86.897[deg]	[grasp_sample.py: 539]
+05/13 22:57:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:23 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/13 22:57:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 22:57:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:57:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:57:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.244s, found 119 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:57:23 INFO: [Worker 0] Feasibility-checked 119 grasps in 0.656s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:57:23 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.036[m] 4.663[deg]	[grasp_sample.py: 539]
+05/13 22:57:23 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:57:24 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:57:24 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:28 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:57:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:57:55 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:05 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:05 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:58:05 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:58:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 22:58:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:58:31 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:58:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 22:58:31 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:58:36 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:58:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 22:58:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/13 22:58:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:58:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:58:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.39s (batch: 4.72s, save: 9.68s)	[pipeline.py: 300]
+05/13 22:58:46 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.95s:
+  episode_total: mean=89.25s, total=178.50s, count=2, min=3346.0ms, max=175156.8ms
+  sensor_polling: mean=430.2ms, total=113.57s, count=264, min=358.1ms, max=844.5ms
+  save_trajectories: mean=9.68s, total=9.68s, count=1, min=9675.7ms, max=9675.7ms
+  physics_step: mean=27.4ms, total=7.24s, count=264, min=17.9ms, max=77.5ms
+  save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4719.0ms, max=4719.0ms
+  task_sampling: mean=472.8ms, total=945.6ms, count=2, min=438.7ms, max=506.9ms
+  task_specific_sample: mean=469.1ms, total=938.3ms, count=2, min=435.6ms, max=502.7ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=436.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:58:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190910m	[env.py: 870]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 80.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73146628 -0.7673433  -0.1909097 ] yaw=-102.5deg	[env.py: 1019]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56279817 -0.87720299 -0.1909097 ] yaw=-92.5deg	[env.py: 1019]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72448034 -0.92975984 -0.1909097 ] yaw=-46.2deg	[env.py: 1019]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=537.5ms, total=537.5ms	[env.py: 1075]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.731, -0.767, -0.191)	[env.py: 1079]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.5 deg	[env.py: 1082]
+05/13 22:58:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m	[env.py: 1086]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:48 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:58:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:58:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 17.33s (batch: 5.23s, save: 12.10s)	[pipeline.py: 300]
+05/13 22:58:54 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=1.43s:
+  episode_total: mean=148.20s, total=296.40s, count=2, min=104090.1ms, max=192311.1ms
+  sensor_polling: mean=407.4ms, total=196.77s, count=483, min=351.7ms, max=881.4ms
+  save_trajectories: mean=12.10s, total=12.10s, count=1, min=12104.2ms, max=12104.2ms
+  physics_step: mean=24.8ms, total=12.00s, count=483, min=16.6ms, max=68.3ms
+  save_batch_prep: mean=5.23s, total=5.23s, count=1, min=5229.0ms, max=5229.0ms
+  task_sampling: mean=716.4ms, total=1.43s, count=2, min=567.8ms, max=865.0ms
+  task_specific_sample: mean=712.4ms, total=1.42s, count=2, min=563.1ms, max=861.6ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.3ms, max=3.0ms
+  mj_forward_sync: mean=505.8us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:58:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:58:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:58:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:58:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:58:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:58:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:58:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197284m	[env.py: 870]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:58:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.07219878 -1.34151277 -0.19728351] yaw=2.2deg	[env.py: 1019]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:58:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.4ms, total=238.4ms	[env.py: 1075]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -1.342, -0.197)	[env.py: 1079]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 2.2 deg	[env.py: 1082]
+05/13 22:58:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/13 22:58:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:58:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:58:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:58:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:58:56 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:58:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:58:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:58:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:58:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 231 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:58:58 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:58:59 INFO: [Worker 0] Feasibility-checked 231 grasps in 2.638s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 22:58:59 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 22:59:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:00 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 22:59:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134566m	[env.py: 870]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16885669 -1.2914489  -0.13456615] yaw=-13.5deg	[env.py: 1019]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -91.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=215.2ms, total=215.2ms	[env.py: 1075]
+05/13 22:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.291, -0.135)	[env.py: 1079]
+05/13 22:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.5 deg	[env.py: 1082]
+05/13 22:59:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m	[env.py: 1086]
+05/13 22:59:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:01 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:01 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:04 INFO: [Worker 0] Feasibility-checked 248 grasps in 14.884s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:04 INFO: [Worker 0] Feasible grasp found 560 (originally 253): w/ 0.750[m] 96.177[deg]	[grasp_sample.py: 539]
+05/13 22:59:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:18 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 22:59:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:30 INFO: [Worker 0] Feasibility-checked 234 grasps in 28.539s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:30 INFO: [Worker 0] Feasible grasp found 151 (originally 151): w/ 0.659[m] 92.928[deg]	[grasp_sample.py: 539]
+05/13 22:59:30 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:59:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:30 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/13 22:59:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:31 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 22:59:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 22:59:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 22:59:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 22:59:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 22:59:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 22:59:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 22:59:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 22:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 22:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 22:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169556m	[env.py: 870]
+05/13 22:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 22:59:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 22:59:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -149.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11994368 -1.29028409 -0.16955636] yaw=-32.4deg	[env.py: 1019]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5112395  -0.8112594  -0.16955636] yaw=-40.5deg	[env.py: 1019]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 22:59:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=664.6ms, total=664.7ms	[env.py: 1075]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.290, -0.170)	[env.py: 1079]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg	[env.py: 1082]
+05/13 22:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m	[env.py: 1086]
+05/13 22:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 22:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 22:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 22:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 22:59:33 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 22:59:33 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 22:59:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 22:59:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 22:59:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 22:59:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 22:59:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 22:59:44 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 22:59:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 22:59:44 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 22:59:46 INFO: [Worker 0] Feasibility-checked 234 grasps in 12.189s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 22:59:46 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.661[m] 86.549[deg]	[grasp_sample.py: 539]
+05/13 22:59:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 22:59:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 22:59:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 22:59:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:59:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.61s (batch: 5.14s, save: 11.47s)	[pipeline.py: 300]
+05/13 22:59:47 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 22:59:48 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=3.37s:
+  episode_total: mean=42.06s, total=210.29s, count=5, min=3458.4ms, max=192541.3ms
+  sensor_polling: mean=425.3ms, total=124.62s, count=293, min=366.5ms, max=806.0ms
+  save_trajectories: mean=11.47s, total=11.47s, count=1, min=11470.5ms, max=11470.5ms
+  physics_step: mean=27.2ms, total=7.98s, count=293, min=17.2ms, max=65.1ms
+  save_batch_prep: mean=5.14s, total=5.14s, count=1, min=5142.2ms, max=5142.2ms
+  task_sampling: mean=673.9ms, total=3.37s, count=5, min=494.1ms, max=958.8ms
+  task_specific_sample: mean=669.6ms, total=3.35s, count=5, min=491.0ms, max=953.9ms
+  scene_randomize: mean=2.2ms, total=11.1ms, count=5, min=1.3ms, max=3.2ms
+  mj_forward_sync: mean=581.7us, total=2.9ms, count=5, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 22:59:50 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 22:59:50 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 22:59:50 INFO: [Worker 0] Worker 0 completed house 1: 15/16 successful episodes	[pipeline.py: 1323]
+05/13 22:59:50 INFO: [Worker 0] [PROFILE] House 1 complete: 15/16 successful, 16 episodes, total_time=5580.35s
+  House averages:
+  episode_total: mean=45.49s, total=3274.98s, count=72, min=212.5ms, max=195761.3ms
+  sensor_polling: mean=410.7ms, total=1857.84s, count=4524, min=345.6ms, max=893.4ms
+  save_trajectories: mean=10.40s, total=156.05s, count=15, min=9536.8ms, max=11541.0ms
+  physics_step: mean=25.1ms, total=113.61s, count=4524, min=14.4ms, max=116.8ms
+  save_batch_prep: mean=5.42s, total=81.30s, count=15, min=4248.8ms, max=7994.0ms
+  task_sampling: mean=663.7ms, total=43.14s, count=65, min=357.1ms, max=4719.5ms
+  task_specific_sample: mean=571.2ms, total=41.13s, count=72, min=207.5ms, max=1006.0ms
+  scene_load: mean=4.05s, total=4.05s, count=1, min=4047.9ms, max=4047.9ms
+  task_sampling_failed: mean=332.7ms, total=2.33s, count=7, min=212.5ms, max=566.8ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms
+  scene_compile: mean=1.58s, total=1.58s, count=1, min=1580.6ms, max=1580.6ms
+  compile_mujoco: mean=783.5ms, total=783.5ms, count=1, min=783.5ms, max=783.5ms
+  compile_xml_load: mean=669.6ms, total=669.6ms, count=1, min=669.6ms, max=669.6ms
+  scene_init: mean=145.1ms, total=145.1ms, count=1, min=145.1ms, max=145.1ms
+  scene_randomize: mean=1.9ms, total=138.4ms, count=72, min=1.1ms, max=5.0ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  asset_install_grasps: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms
+  compile_robot_add: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  mj_forward_sync: mean=476.6us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
+  asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  policy_setup: mean=23.1us, total=1.5ms, count=65, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 22:59:50 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 22:59:50 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 16 episodes, total_time=5580.35s
+  Worker averages:
+  episode_total: mean=45.49s, total=3274.98s, count=72, min=212.5ms, max=195761.3ms
+  sensor_polling: mean=410.7ms, total=1857.84s, count=4524, min=345.6ms, max=893.4ms
+  save_trajectories: mean=10.40s, total=156.05s, count=15, min=9536.8ms, max=11541.0ms
+  physics_step: mean=25.1ms, total=113.61s, count=4524, min=14.4ms, max=116.8ms
+  save_batch_prep: mean=5.42s, total=81.30s, count=15, min=4248.8ms, max=7994.0ms
+  task_sampling: mean=663.7ms, total=43.14s, count=65, min=357.1ms, max=4719.5ms
+  task_specific_sample: mean=571.2ms, total=41.13s, count=72, min=207.5ms, max=1006.0ms
+  scene_load: mean=4.05s, total=4.05s, count=1, min=4047.9ms, max=4047.9ms
+  task_sampling_failed: mean=332.7ms, total=2.33s, count=7, min=212.5ms, max=566.8ms
+  scene_env_create: mean=2.26s, total=2.26s, count=1, min=2255.6ms, max=2255.6ms
+  scene_compile: mean=1.58s, total=1.58s, count=1, min=1580.6ms, max=1580.6ms
+  compile_mujoco: mean=783.5ms, total=783.5ms, count=1, min=783.5ms, max=783.5ms
+  compile_xml_load: mean=669.6ms, total=669.6ms, count=1, min=669.6ms, max=669.6ms
+  scene_init: mean=145.1ms, total=145.1ms, count=1, min=145.1ms, max=145.1ms
+  scene_randomize: mean=1.9ms, total=138.4ms, count=72, min=1.1ms, max=5.0ms
+  compile_aux_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  compile_aux_policy_objects: mean=73.6ms, total=73.6ms, count=1, min=73.6ms, max=73.6ms
+  scene_asset_install: mean=65.6ms, total=65.6ms, count=1, min=65.6ms, max=65.6ms
+  asset_install_grasps: mean=44.3ms, total=44.3ms, count=1, min=44.3ms, max=44.3ms
+  compile_robot_add: mean=42.3ms, total=42.3ms, count=1, min=42.3ms, max=42.3ms
+  mj_forward_sync: mean=476.6us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=15.8ms, total=15.8ms, count=1, min=15.8ms, max=15.8ms
+  asset_install_scene: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  policy_setup: mean=23.1us, total=1.5ms, count=65, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 22:59:53 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 22:59:53 INFO: Success count: 15, Total count: 16	[pipeline.py: 1491]
+05/13 22:59:53 INFO: Success rate: 93.75%	[pipeline.py: 1492]
+05/13 22:59:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 22:59:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 22:59:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.93s (batch: 4.81s, save: 10.13s)	[pipeline.py: 300]
+05/13 23:00:00 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=0.46s:
+  episode_total: mean=168.20s, total=168.20s, count=1, min=168204.6ms, max=168204.6ms
+  sensor_polling: mean=419.4ms, total=110.73s, count=264, min=370.7ms, max=859.6ms
+  save_trajectories: mean=10.13s, total=10.13s, count=1, min=10128.1ms, max=10128.1ms
+  physics_step: mean=24.7ms, total=6.52s, count=264, min=16.8ms, max=65.3ms
+  save_batch_prep: mean=4.81s, total=4.81s, count=1, min=4805.8ms, max=4805.8ms
+  task_sampling: mean=459.9ms, total=459.9ms, count=1, min=459.9ms, max=459.9ms
+  task_specific_sample: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=435.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:00:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:01 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 23:00:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193200m	[env.py: 870]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.13800009 -1.00245629 -0.19320011] yaw=-67.3deg	[env.py: 1019]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.4ms, total=229.4ms	[env.py: 1075]
+05/13 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -1.002, -0.193)	[env.py: 1079]
+05/13 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.3 deg	[env.py: 1082]
+05/13 23:00:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/13 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:02 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:02 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:02 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 23:00:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:05 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.688s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:05 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:06 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 23:00:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:06 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 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165712m	[env.py: 870]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85289797 -0.74635979 -0.16571183] yaw=-71.4deg	[env.py: 1019]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33451955 -0.99601073 -0.16571183] yaw=-43.2deg	[env.py: 1019]
+05/13 23:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.84684588 -0.78025085 -0.16571183] yaw=-97.3deg	[env.py: 1019]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=580.0ms, total=580.0ms	[env.py: 1075]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.853, -0.746, -0.166)	[env.py: 1079]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.4 deg	[env.py: 1082]
+05/13 23:00:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m	[env.py: 1086]
+05/13 23:00:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:07 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:07 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 23:00:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:14 INFO: [Worker 0] Feasibility-checked 244 grasps in 6.336s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:14 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.705[m] 90.034[deg]	[grasp_sample.py: 539]
+05/13 23:00:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:15 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:17 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 23:00:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:17 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 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125608m	[env.py: 870]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.69553436 -0.94506777 -0.12560792] yaw=-46.3deg	[env.py: 1019]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -95.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68332987 -0.94574763 -0.12560792] yaw=-86.0deg	[env.py: 1019]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.90283009 -0.71100311 -0.12560792] yaw=-99.6deg	[env.py: 1019]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=282.8ms, total=282.9ms	[env.py: 1075]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.696, -0.945, -0.126)	[env.py: 1079]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg	[env.py: 1082]
+05/13 23:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m	[env.py: 1086]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:17 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:17 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:17 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 23:00:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:00:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:00:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:00:20 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 23:00:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.484s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:24 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.625[m] 86.338[deg]	[grasp_sample.py: 539]
+05/13 23:00:25 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116661m	[env.py: 870]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.60216304 -0.78746994 -0.11666093] yaw=-87.3deg	[env.py: 1019]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78821156 -0.92390568 -0.11666093] yaw=-69.2deg	[env.py: 1019]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27888081 -0.8702047  -0.11666093] yaw=-25.8deg	[env.py: 1019]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=231.2ms, total=231.2ms	[env.py: 1075]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.602, -0.787, -0.117)	[env.py: 1079]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.3 deg	[env.py: 1082]
+05/13 23:00:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:27 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:27 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 23:00:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:28 INFO: [Worker 0] Feasibility-checked 241 grasps in 7.694s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:28 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.224[m] 22.069[deg]	[grasp_sample.py: 539]
+05/13 23:00:30 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163127m	[env.py: 870]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28930791 -1.20210885 -0.16312699] yaw=-12.5deg	[env.py: 1019]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50057984 -0.81334304 -0.16312699] yaw=-81.5deg	[env.py: 1019]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.7ms	[env.py: 1075]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.202, -0.163)	[env.py: 1079]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.5 deg	[env.py: 1082]
+05/13 23:00:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.846m	[env.py: 1086]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:32 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:32 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:32 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 23:00:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 225 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:35 INFO: [Worker 0] Feasibility-checked 225 grasps in 2.932s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:35 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.621[m] 78.054[deg]	[grasp_sample.py: 539]
+05/13 23:00:36 INFO: [Worker 0] Feasibility-checked 246 grasps in 8.424s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:36 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.749[m] 93.166[deg]	[grasp_sample.py: 539]
+05/13 23:00:36 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:37 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:37 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 23:00:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:37 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 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196326m	[env.py: 870]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06628831 -1.24599744 -0.19632566] yaw=-17.5deg	[env.py: 1019]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=683.6ms, total=683.7ms	[env.py: 1075]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.246, -0.196)	[env.py: 1079]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.5 deg	[env.py: 1082]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.008m	[env.py: 1086]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:38 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:38 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 23:00:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162249m	[env.py: 870]
+05/13 23:00:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18957488 -1.44292375 -0.16224895] yaw=-46.4deg	[env.py: 1019]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35990536 -1.08078464 -0.16224895] yaw=-59.2deg	[env.py: 1019]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28904365 -1.03649354 -0.16224895] yaw=-48.1deg	[env.py: 1019]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.1ms, total=202.1ms	[env.py: 1075]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.190, -1.443, -0.162)	[env.py: 1079]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.4 deg	[env.py: 1082]
+05/13 23:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 23:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:39 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:39 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:40 INFO: [Worker 0] Feasibility-checked 243 grasps in 0.948s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.632[m] 83.379[deg]	[grasp_sample.py: 539]
+05/13 23:00:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:00:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:00:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:41 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 23:00:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:41 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.789s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:00:41 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:00:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:43 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:00:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:43 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 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174565m	[env.py: 870]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71755303 -0.89515159 -0.17456483] yaw=-50.1deg	[env.py: 1019]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1841866  -1.12898351 -0.17456483] yaw=-55.2deg	[env.py: 1019]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=313.0ms, total=313.0ms	[env.py: 1075]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.895, -0.175)	[env.py: 1079]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.1 deg	[env.py: 1082]
+05/13 23:00:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m	[env.py: 1086]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:43 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:47 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.880s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:47 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.645[m] 85.134[deg]	[grasp_sample.py: 539]
+05/13 23:00:49 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:00:50 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:00:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:00:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:00:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:00:50 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 23:00:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:00:50 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 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152224m	[env.py: 870]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:00:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19240694 -1.16485001 -0.15222449] yaw=-10.7deg	[env.py: 1019]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:00:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=220.5ms, total=220.5ms	[env.py: 1075]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.192, -1.165, -0.152)	[env.py: 1079]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.7 deg	[env.py: 1082]
+05/13 23:00:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:00:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:00:50 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:00:50 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:00:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:00:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:00:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:00:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 229 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:00:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:00:57 INFO: [Worker 0] Feasibility-checked 229 grasps in 6.379s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:00:57 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.744[m] 93.096[deg]	[grasp_sample.py: 539]
+05/13 23:00:58 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:00 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 23:01:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:00 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 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158009m	[env.py: 870]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20768986 -1.01930112 -0.15800851] yaw=-21.1deg	[env.py: 1019]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.7ms, total=241.8ms	[env.py: 1075]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.208, -1.019, -0.158)	[env.py: 1079]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.1 deg	[env.py: 1082]
+05/13 23:01:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m	[env.py: 1086]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:00 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:00 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:00 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 23:01:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 234 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:03 INFO: [Worker 0] Feasibility-checked 234 grasps in 2.650s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:01:03 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:01:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:04 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 23:01:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:04 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 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108788m	[env.py: 870]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27941469 -0.93908781 -0.10878762] yaw=-51.7deg	[env.py: 1019]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47074495 -0.81222079 -0.10878762] yaw=-52.8deg	[env.py: 1019]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=302.9ms, total=302.9ms	[env.py: 1075]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -0.939, -0.109)	[env.py: 1079]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.7 deg	[env.py: 1082]
+05/13 23:01:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m	[env.py: 1086]
+05/13 23:01:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:05 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:05 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:05 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 23:01:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:08 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.605s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:01:08 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:01:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128862m	[env.py: 870]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48393507 -0.98275952 -0.12886194] yaw=-64.4deg	[env.py: 1019]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.76903745 -0.71913263 -0.12886194] yaw=-98.6deg	[env.py: 1019]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=221.7ms, total=221.8ms	[env.py: 1075]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.484, -0.983, -0.129)	[env.py: 1079]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.4 deg	[env.py: 1082]
+05/13 23:01:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m	[env.py: 1086]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:10 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:10 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:01:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:11 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.328s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.617[m] 84.395[deg]	[grasp_sample.py: 539]
+05/13 23:01:12 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:01:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:01:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:01:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:01:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:01:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:01:14 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 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113594m	[env.py: 870]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:01:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35162399 -1.01357333 -0.11359358] yaw=-43.6deg	[env.py: 1019]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:01:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.2ms, total=227.3ms	[env.py: 1075]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.014, -0.114)	[env.py: 1079]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.6 deg	[env.py: 1082]
+05/13 23:01:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m	[env.py: 1086]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:01:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:01:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:01:14 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:01:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:01:14 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 23:01:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:01:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:01:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.132s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:01:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.725[m] 87.905[deg]	[grasp_sample.py: 539]
+05/13 23:01:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:01:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:01:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:20 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 23:01:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:01:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:01:46 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:01:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:14 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:02:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:02:14 INFO: [Worker 0] Preparing episode data: 268 timesteps	[save_utils.py: 278]
+05/13 23:02:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:27 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:02:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:02:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:02:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.25s (batch: 4.42s, save: 9.83s)	[pipeline.py: 300]
+05/13 23:02:29 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=2.04s:
+  episode_total: mean=70.13s, total=210.39s, count=3, min=3458.1ms, max=176340.2ms
+  sensor_polling: mean=415.1ms, total=110.82s, count=267, min=355.0ms, max=1073.7ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9829.6ms, max=9829.6ms
+  physics_step: mean=26.4ms, total=7.06s, count=267, min=16.4ms, max=100.0ms
+  save_batch_prep: mean=4.42s, total=4.42s, count=1, min=4424.8ms, max=4424.8ms
+  task_sampling: mean=681.3ms, total=2.04s, count=3, min=493.9ms, max=1000.8ms
+  task_specific_sample: mean=677.5ms, total=2.03s, count=3, min=490.8ms, max=997.0ms
+  scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.1ms, max=2.9ms
+  mj_forward_sync: mean=485.1us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.6us, 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 23:02:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:02:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:02:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:02:30 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 23:02:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:02:30 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 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158596m	[env.py: 870]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:02:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.90042542 -0.78459935 -0.15859577] yaw=-90.7deg	[env.py: 1019]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63142787 -0.86521841 -0.15859577] yaw=-82.3deg	[env.py: 1019]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.88399238 -0.9011548  -0.15859577] yaw=-106.9deg	[env.py: 1019]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:02:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.1ms, total=155.2ms	[env.py: 1075]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.900, -0.785, -0.159)	[env.py: 1079]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.7 deg	[env.py: 1082]
+05/13 23:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:02:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:02:30 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:02:31 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:02:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:02:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:02:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:02:33 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.887s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:02:33 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.694[m] 92.014[deg]	[grasp_sample.py: 539]
+05/13 23:02:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:02:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:02:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:02:40 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:03:06 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:03:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:03:06 INFO: [Worker 0] Preparing episode data: 264 timesteps	[save_utils.py: 278]
+05/13 23:03:19 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:03:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:03:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:03:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.62s (batch: 4.34s, save: 10.29s)	[pipeline.py: 300]
+05/13 23:03:22 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=2.96s:
+  episode_total: mean=38.87s, total=194.37s, count=5, min=3493.0ms, max=163111.9ms
+  sensor_polling: mean=421.7ms, total=110.91s, count=263, min=381.4ms, max=805.8ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10286.2ms, max=10286.2ms
+  physics_step: mean=24.6ms, total=6.47s, count=263, min=16.4ms, max=33.8ms
+  save_batch_prep: mean=4.34s, total=4.34s, count=1, min=4337.6ms, max=4337.6ms
+  task_sampling: mean=591.7ms, total=2.96s, count=5, min=449.7ms, max=868.3ms
+  task_specific_sample: mean=588.1ms, total=2.94s, count=5, min=447.0ms, max=864.7ms
+  scene_randomize: mean=1.8ms, total=8.8ms, count=5, min=1.1ms, max=2.6ms
+  mj_forward_sync: mean=444.6us, total=2.2ms, count=5, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.6us, 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 23:03:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:03:23 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:03:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:03:23 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 23:03:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:03:23 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 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108325m	[env.py: 870]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:03:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -110.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26443411 -1.17206765 -0.1083248 ] yaw=-19.2deg	[env.py: 1019]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.70482876 -0.84218512 -0.1083248 ] yaw=-98.2deg	[env.py: 1019]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01302273 -1.38526677 -0.1083248 ] yaw=-25.3deg	[env.py: 1019]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=188.1ms, total=188.2ms	[env.py: 1075]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.264, -1.172, -0.108)	[env.py: 1079]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.2 deg	[env.py: 1082]
+05/13 23:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m	[env.py: 1086]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:03:24 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:03:24 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:03:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:03:24 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 23:03:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 227 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:03:25 INFO: [Worker 0] Feasibility-checked 227 grasps in 1.176s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:03:25 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.701[m] 90.775[deg]	[grasp_sample.py: 539]
+05/13 23:03:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:03:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:03:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:03:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:46 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:03:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:03:46 INFO: [Worker 0] Preparing episode data: 281 timesteps	[save_utils.py: 278]
+05/13 23:03:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:03:51 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:03:51 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:03:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:03:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:03:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 172 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:04:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.09s (batch: 4.68s, save: 10.40s)	[pipeline.py: 300]
+05/13 23:04:02 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=5.41s:
+  episode_total: mean=33.66s, total=302.91s, count=9, min=3253.9ms, max=167885.3ms
+  sensor_polling: mean=392.3ms, total=158.89s, count=405, min=356.2ms, max=810.7ms
+  save_trajectories: mean=10.40s, total=10.40s, count=1, min=10404.0ms, max=10404.0ms
+  physics_step: mean=24.1ms, total=9.76s, count=405, min=16.8ms, max=34.5ms
+  task_sampling: mean=601.4ms, total=5.41s, count=9, min=461.2ms, max=974.9ms
+  task_specific_sample: mean=598.4ms, total=5.39s, count=9, min=458.6ms, max=971.2ms
+  save_batch_prep: mean=4.68s, total=4.68s, count=1, min=4683.4ms, max=4683.4ms
+  scene_randomize: mean=1.3ms, total=11.9ms, count=9, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=430.4us, total=3.9ms, count=9, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.6us, total=0.2ms, count=9, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:03 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 23:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178469m	[env.py: 870]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59736862 -0.87313355 -0.17846907] yaw=-72.0deg	[env.py: 1019]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2321441  -1.20929605 -0.17846907] yaw=-50.1deg	[env.py: 1019]
+05/13 23:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18937372 -1.45337098 -0.17846907] yaw=-23.7deg	[env.py: 1019]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=462.1ms, total=462.2ms	[env.py: 1075]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.597, -0.873, -0.178)	[env.py: 1079]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg	[env.py: 1082]
+05/13 23:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m	[env.py: 1086]
+05/13 23:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:04 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:04 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:04 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 23:04:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:05 INFO: [Worker 0] Feasibility-checked 243 grasps in 1.306s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:05 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.675[m] 103.103[deg]	[grasp_sample.py: 539]
+05/13 23:04:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:04:10 INFO: [Worker 0] Feasibility-checked 172 grasps in 19.002s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:10 INFO: [Worker 0] Feasible grasp found 532 (originally 225): w/ 0.045[m] 13.046[deg]	[grasp_sample.py: 539]
+05/13 23:04:11 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:13 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 23:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:13 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 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145465m	[env.py: 870]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -175.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.37764405 -0.88003706 -0.14546451] yaw=-29.3deg	[env.py: 1019]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.91287258 -0.90683614 -0.14546451] yaw=-90.3deg	[env.py: 1019]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1967228  -0.95976431 -0.14546451] yaw=-54.1deg	[env.py: 1019]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.2ms, total=157.2ms	[env.py: 1075]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.378, -0.880, -0.145)	[env.py: 1079]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg	[env.py: 1082]
+05/13 23:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m	[env.py: 1086]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:13 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:13 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:04:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:17 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.962s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:17 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.822[m] 84.645[deg]	[grasp_sample.py: 539]
+05/13 23:04:19 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:04:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:04:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:04:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:04:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:04:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:04:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190672m	[env.py: 870]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:04:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 165.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36315375 -1.12765367 -0.19067183] yaw=-57.1deg	[env.py: 1019]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:04:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.0ms, total=233.1ms	[env.py: 1075]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.128, -0.191)	[env.py: 1079]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg	[env.py: 1082]
+05/13 23:04:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m	[env.py: 1086]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:04:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:04:21 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:04:21 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:04:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:04:21 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 23:04:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:04:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:04:22 INFO: [Worker 0] Feasibility-checked 245 grasps in 1.337s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:04:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.630[m] 82.068[deg]	[grasp_sample.py: 539]
+05/13 23:04:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:04:23 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:04:23 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:04:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:04:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:05:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:05:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:05:35 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:01 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:06:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:01 INFO: [Worker 0] Preparing episode data: 280 timesteps	[save_utils.py: 278]
+05/13 23:06:11 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:13 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:06:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:06:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.97s (batch: 4.55s, save: 10.43s)	[pipeline.py: 300]
+05/13 23:06:16 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=0.50s:
+  episode_total: mean=173.47s, total=173.47s, count=1, min=173466.8ms, max=173466.8ms
+  sensor_polling: mean=430.1ms, total=119.99s, count=279, min=380.1ms, max=818.8ms
+  save_trajectories: mean=10.43s, total=10.43s, count=1, min=10426.4ms, max=10426.4ms
+  physics_step: mean=24.7ms, total=6.89s, count=279, min=16.3ms, max=32.2ms
+  save_batch_prep: mean=4.55s, total=4.55s, count=1, min=4546.3ms, max=4546.3ms
+  task_sampling: mean=500.1ms, total=500.1ms, count=1, min=500.1ms, max=500.1ms
+  task_specific_sample: mean=496.0ms, total=496.0ms, count=1, min=496.0ms, max=496.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=437.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.8us, 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 23:06:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:18 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 23:06:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162975m	[env.py: 870]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44061301 -0.81717294 -0.16297511] yaw=-61.3deg	[env.py: 1019]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15462162 -1.39346552 -0.16297511] yaw=-32.8deg	[env.py: 1019]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01579651 -1.27309359 -0.16297511] yaw=-43.5deg	[env.py: 1019]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=292.7ms, total=292.8ms	[env.py: 1075]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.817, -0.163)	[env.py: 1079]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.3 deg	[env.py: 1082]
+05/13 23:06:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m	[env.py: 1086]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:19 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:19 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:19 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 23:06:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:24 INFO: [Worker 0] Feasibility-checked 245 grasps in 5.429s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:24 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.705[m] 98.763[deg]	[grasp_sample.py: 539]
+05/13 23:06:24 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:06:25 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:06:25 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:06:37 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:06:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:37 INFO: [Worker 0] Preparing episode data: 271 timesteps	[save_utils.py: 278]
+05/13 23:06:39 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:06:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:06:39 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 23:06:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:06:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.24s (batch: 4.43s, save: 9.81s)	[pipeline.py: 300]
+05/13 23:06:52 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=0.82s:
+  episode_total: mean=169.22s, total=169.22s, count=1, min=169222.8ms, max=169222.8ms
+  sensor_polling: mean=416.7ms, total=112.52s, count=270, min=355.5ms, max=832.1ms
+  save_trajectories: mean=9.81s, total=9.81s, count=1, min=9807.9ms, max=9807.9ms
+  physics_step: mean=26.2ms, total=7.07s, count=270, min=16.7ms, max=32.7ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4428.6ms, max=4428.6ms
+  task_sampling: mean=815.9ms, total=815.9ms, count=1, min=815.9ms, max=815.9ms
+  task_specific_sample: mean=811.6ms, total=811.6ms, count=1, min=811.6ms, max=811.6ms
+  scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms
+  mj_forward_sync: mean=446.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=15.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:06:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:06:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:06:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.85s (batch: 4.11s, save: 9.74s)	[pipeline.py: 300]
+05/13 23:06:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:06:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105198m	[env.py: 870]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:54 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.42s:
+  episode_total: mean=86.89s, total=260.67s, count=3, min=5987.2ms, max=153653.0ms
+  sensor_polling: mean=401.8ms, total=163.53s, count=407, min=348.7ms, max=1037.0ms
+  physics_step: mean=24.4ms, total=9.93s, count=407, min=16.4ms, max=34.7ms
+  save_trajectories: mean=9.73s, total=9.73s, count=1, min=9735.0ms, max=9735.0ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4111.0ms, max=4111.0ms
+  task_sampling: mean=473.4ms, total=1.42s, count=3, min=446.1ms, max=506.8ms
+  task_specific_sample: mean=469.1ms, total=1.41s, count=3, min=441.6ms, max=502.7ms
+  scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.3ms, max=2.8ms
+  mj_forward_sync: mean=534.0us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.7us, 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 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.60769734 -0.88012575 -0.10519841] yaw=-50.4deg	[env.py: 1019]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=791.9ms, total=792.0ms	[env.py: 1075]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.880, -0.105)	[env.py: 1079]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg	[env.py: 1082]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m	[env.py: 1086]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:55 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:55 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:06:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:06:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:06:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:06:55 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 23:06:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:06:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191235m	[env.py: 870]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:06:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:06:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.79850219 -0.75105808 -0.19123501] yaw=-53.2deg	[env.py: 1019]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31957459 -1.01599921 -0.19123501] yaw=-62.2deg	[env.py: 1019]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:06:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.4ms, total=227.4ms	[env.py: 1075]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.799, -0.751, -0.191)	[env.py: 1079]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.2 deg	[env.py: 1082]
+05/13 23:06:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:06:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:06:56 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:06:56 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:06:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:06:56 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 23:06:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:06:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:06:59 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.261s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:06:59 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.736[m] 85.865[deg]	[grasp_sample.py: 539]
+05/13 23:07:00 INFO: [Worker 0] Feasibility-checked 245 grasps in 3.251s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:07:00 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.783[m] 87.777[deg]	[grasp_sample.py: 539]
+05/13 23:07:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:07:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:07:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:00 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 23:07:00 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 23:07:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:07:31 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:07:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:12 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 23:08:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:08:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:08:20 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 23:08:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 233 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:24 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:08:26 INFO: [Worker 0] Feasibility-checked 233 grasps in 6.761s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.056[m] 5.228[deg]	[grasp_sample.py: 539]
+05/13 23:08:28 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:08:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:08:29 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:08:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:08:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:08:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:08:29 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 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116785m	[env.py: 870]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:08:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.9179681  -0.86633493 -0.116785  ] yaw=-83.7deg	[env.py: 1019]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22042567 -1.37799158 -0.116785  ] yaw=-33.6deg	[env.py: 1019]
+05/13 23:08:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30400913 -1.13683667 -0.116785  ] yaw=-28.9deg	[env.py: 1019]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:08:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.8ms, total=206.9ms	[env.py: 1075]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.918, -0.866, -0.117)	[env.py: 1079]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.7 deg	[env.py: 1082]
+05/13 23:08:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:08:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:08:30 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:08:30 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:08:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:08:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:08:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:08:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:08:31 INFO: [Worker 0] Feasibility-checked 246 grasps in 1.237s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:08:31 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.658[m] 95.022[deg]	[grasp_sample.py: 539]
+05/13 23:08:31 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:08:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:08:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:08:32 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 23:08:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:50 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:08:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:08:50 INFO: [Worker 0] Preparing episode data: 274 timesteps	[save_utils.py: 278]
+05/13 23:08:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:08:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:00 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 23:09:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:02 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.782s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:02 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.506[m] 68.444[deg]	[grasp_sample.py: 539]
+05/13 23:09:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:09:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:09:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.42s (batch: 4.36s, save: 10.07s)	[pipeline.py: 300]
+05/13 23:09:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:05 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.63s:
+  episode_total: mean=167.05s, total=167.05s, count=1, min=167051.8ms, max=167051.8ms
+  sensor_polling: mean=405.8ms, total=110.77s, count=273, min=372.9ms, max=890.7ms
+  save_trajectories: mean=10.07s, total=10.07s, count=1, min=10066.2ms, max=10066.2ms
+  physics_step: mean=24.1ms, total=6.57s, count=273, min=20.7ms, max=35.3ms
+  save_batch_prep: mean=4.36s, total=4.36s, count=1, min=4355.9ms, max=4355.9ms
+  task_sampling: mean=628.5ms, total=628.5ms, count=1, min=628.5ms, max=628.5ms
+  task_specific_sample: mean=624.5ms, total=624.5ms, count=1, min=624.5ms, max=624.5ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=444.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=17.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:09:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:06 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 23:09:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184107m	[env.py: 870]
+05/13 23:09:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11934437 -1.02104524 -0.18410695] yaw=-42.8deg	[env.py: 1019]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=572.9ms, total=573.0ms	[env.py: 1075]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -1.021, -0.184)	[env.py: 1079]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.8 deg	[env.py: 1082]
+05/13 23:09:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m	[env.py: 1086]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:07 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:07 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:09:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:10 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.768s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:09:10 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:09:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:12 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:12 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 23:09:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:12 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 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125858m	[env.py: 870]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09842618 -1.37023793 -0.12585825] yaw=3.5deg	[env.py: 1019]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 38.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=257.3ms, total=257.3ms	[env.py: 1075]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.370, -0.126)	[env.py: 1079]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 3.5 deg	[env.py: 1082]
+05/13 23:09:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m	[env.py: 1086]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:12 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:12 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.078s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:12 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 23:09:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:16 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 23:09:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:18 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.510s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:18 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.502[m] 67.715[deg]	[grasp_sample.py: 539]
+05/13 23:09:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:18 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:18 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:19 INFO: [Worker 0] Feasibility-checked 232 grasps in 6.402s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:19 INFO: [Worker 0] Feasible grasp found 311 (originally 4): w/ 0.702[m] 144.740[deg]	[grasp_sample.py: 539]
+05/13 23:09:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:09:30 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 23:09:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:32 INFO: [Worker 0] Feasibility-checked 248 grasps in 1.566s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:32 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.502[m] 67.716[deg]	[grasp_sample.py: 539]
+05/13 23:09:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:09:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:09:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:09:46 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:09:46 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=False episode_total=1.61s:
+  episode_total: mean=85.27s, total=170.55s, count=2, min=76495.8ms, max=94053.7ms
+  sensor_polling: mean=402.0ms, total=91.26s, count=227, min=355.8ms, max=848.9ms
+  physics_step: mean=23.4ms, total=5.30s, count=227, min=14.4ms, max=30.3ms
+  task_sampling: mean=803.5ms, total=1.61s, count=2, min=483.1ms, max=1123.8ms
+  task_specific_sample: mean=799.8ms, total=1.60s, count=2, min=479.9ms, max=1119.7ms
+  scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.3ms, max=2.6ms
+  mj_forward_sync: mean=451.1us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=15.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:09:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:09:47 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:09:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:09:47 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 23:09:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:09:47 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 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108897m	[env.py: 870]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:09:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50416328 -1.06240149 -0.10889662] yaw=-83.3deg	[env.py: 1019]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:09:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.3ms, total=252.4ms	[env.py: 1075]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -1.062, -0.109)	[env.py: 1079]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.3 deg	[env.py: 1082]
+05/13 23:09:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:09:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:09:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:09:48 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:09:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:09:48 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 23:09:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:09:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:09:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.802s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:09:51 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.655[m] 96.472[deg]	[grasp_sample.py: 539]
+05/13 23:09:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:09:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:09:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:10:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:10:48 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:10:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:11:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:11:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:11:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:11:32 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 23:11:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 202 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:36 INFO: [Worker 0] Feasibility-checked 202 grasps in 4.036s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:36 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:11:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:37 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 23:11:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:37 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 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176545m	[env.py: 870]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00857175 -1.20948207 -0.17654479] yaw=-49.8deg	[env.py: 1019]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.25205924 -1.08392641 -0.17654479] yaw=-45.2deg	[env.py: 1019]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=287.9ms, total=287.9ms	[env.py: 1075]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.209, -0.177)	[env.py: 1079]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg	[env.py: 1082]
+05/13 23:11:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m	[env.py: 1086]
+05/13 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:38 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:38 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:38 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 23:11:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.142s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:41 INFO: [Worker 0] Feasibility-checked 244 grasps in 2.536s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:11:41 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:42 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 23:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139580m	[env.py: 870]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 165.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32454521 -1.20377732 -0.13957954] yaw=-38.9deg	[env.py: 1019]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=395.4ms, total=395.5ms	[env.py: 1075]
+05/13 23:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.204, -0.140)	[env.py: 1079]
+05/13 23:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg	[env.py: 1082]
+05/13 23:11:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/13 23:11:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:43 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:43 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:43 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 23:11:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 241 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:46 INFO: [Worker 0] Feasibility-checked 241 grasps in 2.777s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:46 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.581[m] 90.200[deg]	[grasp_sample.py: 539]
+05/13 23:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:47 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 23:11:47 INFO: [Worker 0] Feasibility-checked 242 grasps in 215.178s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:47 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:11:48 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:11:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:11:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:11:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:11:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:11:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:11:49 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 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159924m	[env.py: 870]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:11:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59903434 -0.99742188 -0.15992441] yaw=-39.0deg	[env.py: 1019]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62415262 -0.84489677 -0.15992441] yaw=-79.2deg	[env.py: 1019]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:11:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.8ms, total=308.9ms	[env.py: 1075]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.599, -0.997, -0.160)	[env.py: 1079]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.0 deg	[env.py: 1082]
+05/13 23:11:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m	[env.py: 1086]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:11:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:11:49 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:11:49 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:11:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:11:49 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 23:11:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:11:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 240 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:11:51 INFO: [Worker 0] Feasibility-checked 240 grasps in 1.336s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:11:51 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.600[m] 87.892[deg]	[grasp_sample.py: 539]
+05/13 23:11:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:11:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:11:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:11:52 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 23:12:14 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:12:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:12:14 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 23:12:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:12:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:12:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.81s (batch: 5.91s, save: 9.90s)	[pipeline.py: 300]
+05/13 23:12:31 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.59s:
+  episode_total: mean=163.64s, total=163.64s, count=1, min=163637.0ms, max=163637.0ms
+  sensor_polling: mean=387.6ms, total=101.17s, count=261, min=364.7ms, max=810.6ms
+  save_trajectories: mean=9.90s, total=9.90s, count=1, min=9895.1ms, max=9895.1ms
+  physics_step: mean=23.8ms, total=6.20s, count=261, min=16.4ms, max=32.6ms
+  save_batch_prep: mean=5.91s, total=5.91s, count=1, min=5913.6ms, max=5913.6ms
+  task_sampling: mean=590.6ms, total=590.6ms, count=1, min=590.6ms, max=590.6ms
+  task_specific_sample: mean=586.9ms, total=586.9ms, count=1, min=586.9ms, max=586.9ms
+  scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms
+  mj_forward_sync: mean=433.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=24.4us, 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 23:12:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:12:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:12:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:12:33 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 23:12:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:12:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114984m	[env.py: 870]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:12:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15947377 -1.23501944 -0.11498395] yaw=-5.9deg	[env.py: 1019]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25317369 -1.29859206 -0.11498395] yaw=-15.9deg	[env.py: 1019]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:12:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.9ms, total=242.0ms	[env.py: 1075]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.159, -1.235, -0.115)	[env.py: 1079]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -5.9 deg	[env.py: 1082]
+05/13 23:12:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m	[env.py: 1086]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:12:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:12:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:12:34 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:12:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:12:34 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 23:12:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:12:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 232 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:12:40 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:44 INFO: [Worker 0] Feasibility-checked 232 grasps in 10.093s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:12:44 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.722[m] 78.137[deg]	[grasp_sample.py: 539]
+05/13 23:12:44 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:12:45 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:12:45 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:45 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 23:12:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:12:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:12:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:38 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:13:41 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:13:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:13:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:13:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:04 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:14:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:14:04 INFO: [Worker 0] Preparing episode data: 259 timesteps	[save_utils.py: 278]
+05/13 23:14:05 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:14:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:14:05 INFO: [Worker 0] Preparing episode data: 253 timesteps	[save_utils.py: 278]
+05/13 23:14:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:14:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:14:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.70s (batch: 4.40s, save: 9.30s)	[pipeline.py: 300]
+05/13 23:14:19 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.13s:
+  episode_total: mean=220.85s, total=441.71s, count=2, min=149943.2ms, max=291763.1ms
+  sensor_polling: mean=377.6ms, total=152.18s, count=403, min=345.1ms, max=1025.4ms
+  save_trajectories: mean=9.30s, total=9.30s, count=1, min=9301.1ms, max=9301.1ms
+  physics_step: mean=22.7ms, total=9.15s, count=403, min=16.5ms, max=30.6ms
+  save_batch_prep: mean=4.40s, total=4.40s, count=1, min=4403.7ms, max=4403.7ms
+  task_sampling: mean=564.7ms, total=1.13s, count=2, min=545.9ms, max=583.5ms
+  task_specific_sample: mean=560.5ms, total=1.12s, count=2, min=541.7ms, max=579.2ms
+  scene_randomize: mean=2.4ms, total=4.8ms, count=2, min=2.0ms, max=2.8ms
+  mj_forward_sync: mean=443.1us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  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 23:14:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:14:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:14:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.39s (batch: 3.98s, save: 9.41s)	[pipeline.py: 300]
+05/13 23:14:20 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=2.67s:
+  episode_total: mean=77.24s, total=308.98s, count=4, min=3353.6ms, max=157576.6ms
+  sensor_polling: mean=422.0ms, total=218.19s, count=517, min=373.1ms, max=828.2ms
+  physics_step: mean=26.2ms, total=13.56s, count=517, min=16.3ms, max=33.7ms
+  save_trajectories: mean=9.41s, total=9.41s, count=1, min=9408.5ms, max=9408.5ms
+  save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3980.3ms, max=3980.3ms
+  task_sampling: mean=666.7ms, total=2.67s, count=4, min=501.0ms, max=885.6ms
+  task_specific_sample: mean=662.0ms, total=2.65s, count=4, min=497.8ms, max=881.4ms
+  scene_randomize: mean=1.8ms, total=7.1ms, count=4, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=433.1us, total=1.7ms, count=4, min=0.4ms, max=0.4ms
+  policy_setup: mean=13.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:20 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 23:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177634m	[env.py: 870]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -144.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -126.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=218.4ms, total=218.5ms	[env.py: 1105]
+05/13 23:14:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:14:20 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0	[pipeline.py: 1063]
+05/13 23:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:22 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 23:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167042m	[env.py: 870]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:22 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:22 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 23:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:22 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 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113376m	[env.py: 870]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -28.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30699119 -1.17778602 -0.1670421 ] yaw=-56.4deg	[env.py: 1019]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11722474 -1.35424814 -0.1670421 ] yaw=-5.1deg	[env.py: 1019]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34700519 -0.81344036 -0.11337632] yaw=-55.6deg	[env.py: 1019]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.77162889 -0.69047968 -0.1670421 ] yaw=-70.7deg	[env.py: 1019]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms	[env.py: 1075]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.307, -1.178, -0.167)	[env.py: 1079]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg	[env.py: 1082]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.848m	[env.py: 1086]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12930224 -1.41834278 -0.11337632] yaw=-20.0deg	[env.py: 1019]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.9ms, total=235.0ms	[env.py: 1075]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.347, -0.813, -0.113)	[env.py: 1079]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg	[env.py: 1082]
+05/13 23:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m	[env.py: 1086]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:22 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:22 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 23:14:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:22 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:22 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:22 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 23:14:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:25 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.900s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:14:25 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:14:27 INFO: [Worker 0] Feasibility-checked 245 grasps in 4.315s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:27 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.654[m] 89.907[deg]	[grasp_sample.py: 539]
+05/13 23:14:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:14:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:27 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 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182523m	[env.py: 870]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.54017226 -0.87891208 -0.18252312] yaw=-83.9deg	[env.py: 1019]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=235.7ms, total=235.7ms	[env.py: 1075]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.540, -0.879, -0.183)	[env.py: 1079]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.9 deg	[env.py: 1082]
+05/13 23:14:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m	[env.py: 1086]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:27 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:27 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:27 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:27 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:27 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 23:14:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:31 INFO: [Worker 0] Feasibility-checked 244 grasps in 3.231s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:31 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.694[m] 86.359[deg]	[grasp_sample.py: 539]
+05/13 23:14:32 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:14:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:33 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 23:14:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:33 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 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169929m	[env.py: 870]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -132.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=295.8ms, total=295.9ms	[env.py: 1105]
+05/13 23:14:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:14:34 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 23:14:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:14:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:14:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:14:37 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 23:14:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:14:37 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 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191388m	[env.py: 870]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:14:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1939113  -1.15869409 -0.19138772] yaw=-37.7deg	[env.py: 1019]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19244469 -1.08558909 -0.19138772] yaw=-54.2deg	[env.py: 1019]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.68165835 -0.95436872 -0.19138772] yaw=-68.4deg	[env.py: 1019]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:14:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=209.3ms, total=209.4ms	[env.py: 1075]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.159, -0.191)	[env.py: 1079]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg	[env.py: 1082]
+05/13 23:14:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:14:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:14:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:14:37 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:14:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:14:37 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 23:14:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:14:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 244 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:14:46 INFO: [Worker 0] Feasibility-checked 244 grasps in 8.356s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:14:46 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.655[m] 87.033[deg]	[grasp_sample.py: 539]
+05/13 23:14:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:14:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:14:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:14:47 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 23:14:48 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:15:15 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:15:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:15:15 INFO: [Worker 0] Preparing episode data: 282 timesteps	[save_utils.py: 278]
+05/13 23:15:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:15:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:15:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:15:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.48s (batch: 5.25s, save: 10.23s)	[pipeline.py: 300]
+05/13 23:15:32 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.55s:
+  episode_total: mean=178.53s, total=178.53s, count=1, min=178532.0ms, max=178532.0ms
+  sensor_polling: mean=408.5ms, total=114.79s, count=281, min=359.0ms, max=856.0ms
+  save_trajectories: mean=10.23s, total=10.23s, count=1, min=10228.4ms, max=10228.4ms
+  physics_step: mean=23.8ms, total=6.69s, count=281, min=17.5ms, max=31.8ms
+  save_batch_prep: mean=5.25s, total=5.25s, count=1, min=5254.0ms, max=5254.0ms
+  task_sampling: mean=546.6ms, total=546.6ms, count=1, min=546.6ms, max=546.6ms
+  task_specific_sample: mean=539.4ms, total=539.4ms, count=1, min=539.4ms, max=539.4ms
+  scene_randomize: mean=5.4ms, total=5.4ms, count=1, min=5.4ms, max=5.4ms
+  mj_forward_sync: mean=440.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  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 23:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:15:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:15:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:15:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:15:33 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 23:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:15:33 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 23:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191859m	[env.py: 870]
+05/13 23:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.34996836 -1.10801262 -0.19185876] yaw=-26.6deg	[env.py: 1019]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16824989 -1.20662463 -0.19185876] yaw=-56.2deg	[env.py: 1019]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:15:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=312.5ms, total=312.6ms	[env.py: 1075]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.350, -1.108, -0.192)	[env.py: 1079]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.6 deg	[env.py: 1082]
+05/13 23:15:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m	[env.py: 1086]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:15:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:15:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:15:34 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:15:34 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 23:15:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:15:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 236 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:15:40 INFO: [Worker 0] Feasibility-checked 236 grasps in 5.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:15:40 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.610[m] 90.601[deg]	[grasp_sample.py: 539]
+05/13 23:15:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:15:41 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:15:41 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:41 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 23:15:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:16 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:16:31 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/13 23:16:42 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:16:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/13 23:16:42 INFO: [Worker 0] Preparing episode data: 265 timesteps	[save_utils.py: 278]
+05/13 23:16:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:16:44 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:16:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:16:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.82s (batch: 4.32s, save: 9.50s)	[pipeline.py: 300]
+05/13 23:16:56 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.49s:
+  episode_total: mean=77.54s, total=155.08s, count=2, min=232.2ms, max=154844.6ms
+  sensor_polling: mean=379.7ms, total=100.25s, count=264, min=351.1ms, max=1037.3ms
+  save_trajectories: mean=9.50s, total=9.50s, count=1, min=9500.7ms, max=9500.7ms
+  physics_step: mean=22.8ms, total=6.03s, count=264, min=17.4ms, max=30.5ms
+  save_batch_prep: mean=4.32s, total=4.32s, count=1, min=4315.3ms, max=4315.3ms
+  task_specific_sample: mean=356.4ms, total=712.7ms, count=2, min=225.1ms, max=487.6ms
+  task_sampling: mean=491.8ms, total=491.8ms, count=1, min=491.8ms, max=491.8ms
+  task_sampling_failed: mean=232.2ms, total=232.2ms, count=1, min=232.2ms, max=232.2ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.1ms, max=2.5ms
+  mj_forward_sync: mean=431.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:16:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:16:58 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:16:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:16:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:16:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:16:58 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 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102112m	[env.py: 870]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:16:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.59556402 -0.90667438 -0.10211237] yaw=-90.5deg	[env.py: 1019]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.7744561  -0.80349397 -0.10211237] yaw=-97.4deg	[env.py: 1019]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.82410818 -0.81765664 -0.10211237] yaw=-78.4deg	[env.py: 1019]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:16:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=207.1ms, total=207.2ms	[env.py: 1075]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.596, -0.907, -0.102)	[env.py: 1079]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.5 deg	[env.py: 1082]
+05/13 23:16:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m	[env.py: 1086]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:16:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:16:58 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:16:58 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:16:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:16:58 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 23:16:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:16:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 246 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:01 INFO: [Worker 0] Feasibility-checked 246 grasps in 2.629s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:01 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.698[m] 96.352[deg]	[grasp_sample.py: 539]
+05/13 23:17:02 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:17:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:06 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:17:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100886m	[env.py: 870]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40278195 -0.89601059 -0.10088554] yaw=-52.6deg	[env.py: 1019]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30460701 -1.19654774 -0.10088554] yaw=-25.4deg	[env.py: 1019]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=228.6ms, total=228.7ms	[env.py: 1075]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.403, -0.896, -0.101)	[env.py: 1079]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg	[env.py: 1082]
+05/13 23:17:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m	[env.py: 1086]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:06 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:06 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:17:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:07 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:17:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/13 23:17:07 INFO: [Worker 0] Preparing episode data: 267 timesteps	[save_utils.py: 278]
+05/13 23:17:12 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.157s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.781[m] 85.857[deg]	[grasp_sample.py: 539]
+05/13 23:17:14 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:17:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:16 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 23:17:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164721m	[env.py: 870]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -29.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.62949117 -0.72721674 -0.16472108] yaw=-46.0deg	[env.py: 1019]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.67547121 -0.81634949 -0.16472108] yaw=-61.9deg	[env.py: 1019]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=211.1ms, total=211.1ms	[env.py: 1075]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.727, -0.165)	[env.py: 1079]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg	[env.py: 1082]
+05/13 23:17:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m	[env.py: 1086]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:16 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:16 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:17:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:19 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.832s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:17:19 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:17:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:21 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:21 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 23:17:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:21 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 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117613m	[env.py: 870]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=302.2ms, total=302.2ms	[env.py: 1105]
+05/13 23:17:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0'	[opening_task_samplers.py: 285]
+05/13 23:17:22 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 23:17:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:17:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:17:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.53s (batch: 5.02s, save: 9.51s)	[pipeline.py: 300]
+05/13 23:17:24 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=1.56s:
+  episode_total: mean=44.00s, total=176.01s, count=4, min=306.1ms, max=166838.1ms
+  sensor_polling: mean=411.9ms, total=109.57s, count=266, min=384.5ms, max=799.9ms
+  save_trajectories: mean=9.51s, total=9.51s, count=1, min=9509.1ms, max=9509.1ms
+  physics_step: mean=23.0ms, total=6.11s, count=266, min=16.5ms, max=35.0ms
+  save_batch_prep: mean=5.02s, total=5.02s, count=1, min=5022.7ms, max=5022.7ms
+  task_specific_sample: mean=460.5ms, total=1.84s, count=4, min=301.9ms, max=546.3ms
+  task_sampling: mean=518.9ms, total=1.56s, count=3, min=484.3ms, max=552.0ms
+  task_sampling_failed: mean=306.0ms, total=306.0ms, count=1, min=306.0ms, max=306.0ms
+  scene_randomize: mean=2.5ms, total=10.2ms, count=4, min=1.2ms, max=3.7ms
+  mj_forward_sync: mean=479.7us, total=1.9ms, count=4, min=0.4ms, max=0.6ms
+  policy_setup: mean=32.9us, total=0.1ms, count=3, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:17:24 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:17:24 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:17:24 INFO: [Worker 0] Worker 0 completed house 1: 19/22 successful episodes	[pipeline.py: 1323]
+05/13 23:17:24 INFO: [Worker 0] [PROFILE] House 1 complete: 19/22 successful, 22 episodes, total_time=7338.56s
+  House averages:
+  episode_total: mean=60.45s, total=4352.19s, count=72, min=232.2ms, max=291763.1ms
+  sensor_polling: mean=404.5ms, total=2458.30s, count=6078, min=345.1ms, max=1073.7ms
+  save_trajectories: mean=10.21s, total=194.03s, count=19, min=9178.2ms, max=12141.3ms
+  physics_step: mean=25.0ms, total=152.04s, count=6078, min=14.4ms, max=100.0ms
+  save_batch_prep: mean=4.68s, total=88.99s, count=19, min=4024.8ms, max=6710.4ms
+  task_sampling: mean=642.1ms, total=40.45s, count=63, min=378.4ms, max=4951.3ms
+  task_specific_sample: mean=538.9ms, total=38.80s, count=72, min=225.1ms, max=997.0ms
+  scene_load: mean=4.33s, total=4.33s, count=1, min=4328.2ms, max=4328.2ms
+  task_sampling_failed: mean=330.0ms, total=2.97s, count=9, min=232.2ms, max=500.2ms
+  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2276.6ms, max=2276.6ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.2ms, max=1837.2ms
+  compile_xml_load: mean=956.9ms, total=956.9ms, count=1, min=956.9ms, max=956.9ms
+  compile_mujoco: mean=760.3ms, total=760.3ms, count=1, min=760.3ms, max=760.3ms
+  scene_init: mean=148.1ms, total=148.1ms, count=1, min=148.1ms, max=148.1ms
+  scene_randomize: mean=1.9ms, total=136.3ms, count=72, min=1.0ms, max=3.4ms
+  compile_aux_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  compile_aux_policy_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_asset_install: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms
+  mj_forward_sync: mean=476.4us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=17.8us, total=1.1ms, count=63, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:17:24 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:17:24 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 22 episodes, total_time=7338.56s
+  Worker averages:
+  episode_total: mean=60.45s, total=4352.19s, count=72, min=232.2ms, max=291763.1ms
+  sensor_polling: mean=404.5ms, total=2458.30s, count=6078, min=345.1ms, max=1073.7ms
+  save_trajectories: mean=10.21s, total=194.03s, count=19, min=9178.2ms, max=12141.3ms
+  physics_step: mean=25.0ms, total=152.04s, count=6078, min=14.4ms, max=100.0ms
+  save_batch_prep: mean=4.68s, total=88.99s, count=19, min=4024.8ms, max=6710.4ms
+  task_sampling: mean=642.1ms, total=40.45s, count=63, min=378.4ms, max=4951.3ms
+  task_specific_sample: mean=538.9ms, total=38.80s, count=72, min=225.1ms, max=997.0ms
+  scene_load: mean=4.33s, total=4.33s, count=1, min=4328.2ms, max=4328.2ms
+  task_sampling_failed: mean=330.0ms, total=2.97s, count=9, min=232.2ms, max=500.2ms
+  scene_env_create: mean=2.28s, total=2.28s, count=1, min=2276.6ms, max=2276.6ms
+  scene_compile: mean=1.84s, total=1.84s, count=1, min=1837.2ms, max=1837.2ms
+  compile_xml_load: mean=956.9ms, total=956.9ms, count=1, min=956.9ms, max=956.9ms
+  compile_mujoco: mean=760.3ms, total=760.3ms, count=1, min=760.3ms, max=760.3ms
+  scene_init: mean=148.1ms, total=148.1ms, count=1, min=148.1ms, max=148.1ms
+  scene_randomize: mean=1.9ms, total=136.3ms, count=72, min=1.0ms, max=3.4ms
+  compile_aux_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  compile_aux_policy_objects: mean=72.0ms, total=72.0ms, count=1, min=72.0ms, max=72.0ms
+  scene_asset_install: mean=65.7ms, total=65.7ms, count=1, min=65.7ms, max=65.7ms
+  asset_install_grasps: mean=43.3ms, total=43.3ms, count=1, min=43.3ms, max=43.3ms
+  compile_robot_add: mean=36.3ms, total=36.3ms, count=1, min=36.3ms, max=36.3ms
+  mj_forward_sync: mean=476.4us, total=34.3ms, count=72, min=0.4ms, max=0.7ms
+  asset_install_objects: mean=16.2ms, total=16.2ms, count=1, min=16.2ms, max=16.2ms
+  asset_install_scene: mean=6.1ms, total=6.1ms, count=1, min=6.1ms, max=6.1ms
+  policy_setup: mean=17.8us, total=1.1ms, count=63, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:17:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:26 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 23:17:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:26 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 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186102m	[env.py: 870]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.59431034 -0.80518423 -0.18610155] yaw=-92.0deg	[env.py: 1019]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.32386215 -1.11832349 -0.18610155] yaw=-67.9deg	[env.py: 1019]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40679389 -1.06376421 -0.18610155] yaw=-52.7deg	[env.py: 1019]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.3ms, total=192.4ms	[env.py: 1075]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -0.805, -0.186)	[env.py: 1079]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -92.0 deg	[env.py: 1082]
+05/13 23:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m	[env.py: 1086]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:26 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:26 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:26 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 23:17:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:28 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:17:28 INFO: Success count: 19, Total count: 22	[pipeline.py: 1491]
+05/13 23:17:28 INFO: Success rate: 86.36%	[pipeline.py: 1492]
+05/13 23:17:30 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True	[pipeline.py: 1108]
+05/13 23:17:31 INFO: [Worker 0] Feasibility-checked 248 grasps in 4.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:31 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.749[m] 96.979[deg]	[grasp_sample.py: 539]
+05/13 23:17:32 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:34 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:34 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 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198520m	[env.py: 870]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -76.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33843297 -1.06808127 -0.19851971] yaw=-37.3deg	[env.py: 1019]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.73447773 -0.80760039 -0.19851971] yaw=-87.4deg	[env.py: 1019]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.0ms, total=263.1ms	[env.py: 1075]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.068, -0.199)	[env.py: 1079]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg	[env.py: 1082]
+05/13 23:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:34 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:34 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:34 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 23:17:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:37 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.829s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:37 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.596[m] 83.542[deg]	[grasp_sample.py: 539]
+05/13 23:17:38 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:17:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:17:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:17:40 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 23:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:17:40 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 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172419m	[env.py: 870]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.48804369 -0.90280807 -0.17241874] yaw=-58.4deg	[env.py: 1019]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19428294 -1.10609915 -0.17241874] yaw=-51.4deg	[env.py: 1019]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:17:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=221.6ms, total=221.6ms	[env.py: 1075]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.488, -0.903, -0.172)	[env.py: 1079]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.4 deg	[env.py: 1082]
+05/13 23:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m	[env.py: 1086]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:17:40 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:17:40 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:17:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:17:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:17:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:17:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:17:43 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:17:43 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.675[m] 91.344[deg]	[grasp_sample.py: 539]
+05/13 23:17:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:17:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:17:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:17:44 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 23:17:56 INFO: [Worker 0] Saved videos eagerly for episode 20 to /scr/ravenh/3drawers/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/13 23:17:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/13 23:17:56 INFO: [Worker 0] Preparing episode data: 262 timesteps	[save_utils.py: 278]
+05/13 23:18:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/13 23:18:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/3drawers/sim_chunks/chunk_006	[save_utils.py: 785]
+05/13 23:18:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.62s (batch: 4.90s, save: 9.72s)	[pipeline.py: 300]
+05/13 23:18:11 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.68s:
+  episode_total: mean=157.85s, total=157.85s, count=1, min=157853.5ms, max=157853.5ms
+  sensor_polling: mean=389.0ms, total=101.52s, count=261, min=356.7ms, max=799.3ms
+  save_trajectories: mean=9.72s, total=9.72s, count=1, min=9723.7ms, max=9723.7ms
+  physics_step: mean=23.1ms, total=6.03s, count=261, min=17.3ms, max=35.0ms
+  save_batch_prep: mean=4.90s, total=4.90s, count=1, min=4896.6ms, max=4896.6ms
+  task_sampling: mean=682.7ms, total=682.7ms, count=1, min=682.7ms, max=682.7ms
+  task_specific_sample: mean=678.0ms, total=678.0ms, count=1, min=678.0ms, max=678.0ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=432.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:18:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:13 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 23:18:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:13 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 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154324m	[env.py: 870]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -29.1° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.62925841 -0.8306587  -0.15432401] yaw=-42.2deg	[env.py: 1019]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03266616 -1.2790056  -0.15432401] yaw=-19.8deg	[env.py: 1019]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.92131479 -0.76051727 -0.15432401] yaw=-69.9deg	[env.py: 1019]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.1ms, total=218.1ms	[env.py: 1075]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.831, -0.154)	[env.py: 1079]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.2 deg	[env.py: 1082]
+05/13 23:18:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m	[env.py: 1086]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:14 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:14 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.163s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 238 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:38 INFO: [Worker 0] Feasibility-checked 238 grasps in 23.842s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:38 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.702[m] 81.614[deg]	[grasp_sample.py: 539]
+05/13 23:18:39 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:18:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:18:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:41 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 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178140m	[env.py: 870]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15169542 -1.21493788 -0.17813994] yaw=-48.5deg	[env.py: 1019]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48373068 -1.03652817 -0.17813994] yaw=-39.9deg	[env.py: 1019]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03975644 -1.34855132 -0.17813994] yaw=-4.0deg	[env.py: 1019]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=192.4ms, total=192.5ms	[env.py: 1075]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.152, -1.215, -0.178)	[env.py: 1079]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.5 deg	[env.py: 1082]
+05/13 23:18:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m	[env.py: 1086]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:42 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:42 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.172s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 243 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:45 INFO: [Worker 0] Feasibility-checked 243 grasps in 2.830s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.690[m] 80.559[deg]	[grasp_sample.py: 539]
+05/13 23:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:46 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:18:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:18:48 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:18:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:18:48 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 23:18:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:18:48 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 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169813m	[env.py: 870]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:18:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.5° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.8° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89485153 -0.64704931 -0.16981325] yaw=-63.0deg	[env.py: 1019]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:18:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.6ms, total=222.7ms	[env.py: 1075]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.895, -0.647, -0.170)	[env.py: 1079]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.0 deg	[env.py: 1082]
+05/13 23:18:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m	[env.py: 1086]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:18:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:18:48 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:18:48 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:18:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:18:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:18:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:51 INFO: [Worker 0] Feasibility-checked 245 grasps in 2.802s, found feasible grasp: False	[grasp_sample.py: 500]
+05/13 23:18:51 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/13 23:18:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:53 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:18:53 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:18:53 INFO: [Worker 0] Worker 0 completed house 1: 21/24 successful episodes	[pipeline.py: 1323]
+05/13 23:18:53 INFO: [Worker 0] [PROFILE] House 1 complete: 21/24 successful, 24 episodes, total_time=7569.10s
+  House averages:
+  episode_total: mean=61.71s, total=4443.24s, count=72, min=203.3ms, max=272376.5ms
+  sensor_polling: mean=412.1ms, total=2563.80s, count=6221, min=352.4ms, max=956.4ms
+  save_trajectories: mean=10.33s, total=216.89s, count=21, min=9167.7ms, max=12343.2ms
+  physics_step: mean=25.7ms, total=159.89s, count=6221, min=14.4ms, max=114.4ms
+  save_batch_prep: mean=4.57s, total=95.96s, count=21, min=4010.8ms, max=5913.6ms
+  task_specific_sample: mean=541.7ms, total=39.00s, count=72, min=198.7ms, max=1119.7ms
+  task_sampling: mean=587.8ms, total=35.86s, count=61, min=373.2ms, max=1123.8ms
+  task_sampling_failed: mean=608.5ms, total=6.69s, count=11, min=203.2ms, max=3507.7ms
+  scene_load: mean=3.24s, total=3.24s, count=1, min=3239.4ms, max=3239.4ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2038.8ms, max=2038.8ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  compile_mujoco: mean=650.7ms, total=650.7ms, count=1, min=650.7ms, max=650.7ms
+  compile_xml_load: mean=267.4ms, total=267.4ms, count=1, min=267.4ms, max=267.4ms
+  scene_randomize: mean=2.0ms, total=142.2ms, count=72, min=1.1ms, max=5.4ms
+  scene_init: mean=136.1ms, total=136.1ms, count=1, min=136.1ms, max=136.1ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_policy_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  mj_forward_sync: mean=475.1us, total=34.2ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  compile_robot_add: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  policy_setup: mean=18.4us, total=1.1ms, count=61, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:18:53 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:18:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=7569.10s
+  Worker averages:
+  episode_total: mean=61.71s, total=4443.24s, count=72, min=203.3ms, max=272376.5ms
+  sensor_polling: mean=412.1ms, total=2563.80s, count=6221, min=352.4ms, max=956.4ms
+  save_trajectories: mean=10.33s, total=216.89s, count=21, min=9167.7ms, max=12343.2ms
+  physics_step: mean=25.7ms, total=159.89s, count=6221, min=14.4ms, max=114.4ms
+  save_batch_prep: mean=4.57s, total=95.96s, count=21, min=4010.8ms, max=5913.6ms
+  task_specific_sample: mean=541.7ms, total=39.00s, count=72, min=198.7ms, max=1119.7ms
+  task_sampling: mean=587.8ms, total=35.86s, count=61, min=373.2ms, max=1123.8ms
+  task_sampling_failed: mean=608.5ms, total=6.69s, count=11, min=203.2ms, max=3507.7ms
+  scene_load: mean=3.24s, total=3.24s, count=1, min=3239.4ms, max=3239.4ms
+  scene_env_create: mean=2.04s, total=2.04s, count=1, min=2038.8ms, max=2038.8ms
+  scene_compile: mean=1.00s, total=1.00s, count=1, min=1000.1ms, max=1000.1ms
+  compile_mujoco: mean=650.7ms, total=650.7ms, count=1, min=650.7ms, max=650.7ms
+  compile_xml_load: mean=267.4ms, total=267.4ms, count=1, min=267.4ms, max=267.4ms
+  scene_randomize: mean=2.0ms, total=142.2ms, count=72, min=1.1ms, max=5.4ms
+  scene_init: mean=136.1ms, total=136.1ms, count=1, min=136.1ms, max=136.1ms
+  scene_asset_install: mean=64.0ms, total=64.0ms, count=1, min=64.0ms, max=64.0ms
+  compile_aux_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  compile_aux_policy_objects: mean=58.8ms, total=58.8ms, count=1, min=58.8ms, max=58.8ms
+  asset_install_grasps: mean=42.8ms, total=42.8ms, count=1, min=42.8ms, max=42.8ms
+  mj_forward_sync: mean=475.1us, total=34.2ms, count=72, min=0.4ms, max=0.8ms
+  asset_install_objects: mean=15.6ms, total=15.6ms, count=1, min=15.6ms, max=15.6ms
+  compile_robot_add: mean=10.1ms, total=10.1ms, count=1, min=10.1ms, max=10.1ms
+  asset_install_scene: mean=5.6ms, total=5.6ms, count=1, min=5.6ms, max=5.6ms
+  policy_setup: mean=18.4us, total=1.1ms, count=61, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:18:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:18:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:18:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:18:55 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 23:18:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:18:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:18:55 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:18:55 INFO: Success count: 21, Total count: 24	[pipeline.py: 1491]
+05/13 23:18:55 INFO: Success rate: 87.50%	[pipeline.py: 1492]
+05/13 23:18:57 INFO: [Worker 0] Feasibility-checked 242 grasps in 1.700s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:18:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.063[m] 5.094[deg]	[grasp_sample.py: 539]
+05/13 23:18:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:18:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:18:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:19:04 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 23:19:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:19:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:19:05 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.944s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:19:05 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.133[m] 3.462[deg]	[grasp_sample.py: 539]
+05/13 23:19:06 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:19:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:19:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:19:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:19:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:19:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:19:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 242 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:19:21 INFO: [Worker 0] Feasibility-checked 242 grasps in 0.927s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:19:21 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.125[m] 3.153[deg]	[grasp_sample.py: 539]
+05/13 23:19:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:19:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:19:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:19:35 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:19:35 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/13 23:19:35 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False	[pipeline.py: 1108]
+05/13 23:19:35 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=False episode_total=1.54s:
+  episode_total: mean=42.20s, total=126.60s, count=3, min=4752.8ms, max=115313.8ms
+  sensor_polling: mean=395.3ms, total=64.04s, count=162, min=370.0ms, max=791.0ms
+  physics_step: mean=21.4ms, total=3.47s, count=162, min=14.4ms, max=29.0ms
+  task_sampling: mean=511.8ms, total=1.54s, count=3, min=477.0ms, max=534.7ms
+  task_specific_sample: mean=508.3ms, total=1.52s, count=3, min=474.1ms, max=531.5ms
+  scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.1ms, max=2.8ms
+  mj_forward_sync: mean=446.4us, total=1.3ms, count=3, min=0.4ms, max=0.5ms
+  policy_setup: mean=14.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/13 23:19:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:19:37 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:19:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:19:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0']	[opening_task_samplers.py: 178]
+05/13 23:19:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:19:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177521m	[env.py: 870]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:19:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.75428397 -0.74474135 -0.17752139] yaw=-102.3deg	[env.py: 1019]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00744812 -1.27382224 -0.17752139] yaw=-33.4deg	[env.py: 1019]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59743397 -0.75431725 -0.17752139] yaw=-62.7deg	[env.py: 1019]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:19:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.3ms, total=239.3ms	[env.py: 1075]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.745, -0.178)	[env.py: 1079]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.3 deg	[env.py: 1082]
+05/13 23:19:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:37 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:19:37 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:19:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.069s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:19:37 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 23:19:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:19:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:19:47 INFO: [Worker 0] Feasibility-checked 248 grasps in 9.989s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:19:47 INFO: [Worker 0] Feasible grasp found 572 (originally 265): w/ 0.762[m] 94.626[deg]	[grasp_sample.py: 539]
+05/13 23:19:48 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:19:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:19:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:19:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:19:50 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 23:19:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:19:50 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 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141115m	[env.py: 870]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:19:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 70.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5557903  -0.81819891 -0.14111537] yaw=-49.9deg	[env.py: 1019]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.6° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:19:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=386.7ms, total=386.7ms	[env.py: 1075]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.818, -0.141)	[env.py: 1079]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg	[env.py: 1082]
+05/13 23:19:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m	[env.py: 1086]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:19:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:19:51 INFO: [Worker 0] Sampled task 'Open the drawer'	[task_sampler.py: 1136]
+05/13 23:19:51 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:19:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:19:51 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 23:19:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:19:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:19:57 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.222s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:19:57 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.745[m] 77.871[deg]	[grasp_sample.py: 539]
+05/13 23:19:57 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/13 23:19:58 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/13 23:19:58 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:19:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/13 23:20:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:05 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] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/13 23:21:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/13 23:21:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/13 23:21:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/13 23:21:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:21:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:21:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 140 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:23:51 INFO: [Worker 0] Feasibility-checked 140 grasps in 145.638s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:23:51 INFO: [Worker 0] Feasible grasp found 557 (originally 250): w/ 0.029[m] 166.351[deg]	[grasp_sample.py: 539]
+05/13 23:23:52 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/13 23:23:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:23:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:23:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:23:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:23:54 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 23:23:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:23:54 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 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128879m	[env.py: 870]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:23:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.4° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.72447086 -0.72565781 -0.12887928] yaw=-95.8deg	[env.py: 1019]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.2° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.83866348 -0.92438499 -0.12887928] yaw=-88.6deg	[env.py: 1019]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:23:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=404.0ms, total=404.0ms	[env.py: 1075]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.724, -0.726, -0.129)	[env.py: 1079]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.8 deg	[env.py: 1082]
+05/13 23:23:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m	[env.py: 1086]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:23:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+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 70/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:23:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/13 23:23:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz	[grasp_sample.py: 179]
+05/13 23:23:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/13 23:23:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 248 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:06 INFO: [Worker 0] Feasibility-checked 248 grasps in 11.336s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:06 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:24:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/13 23:24:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/13 23:24:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/13 23:24:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring.	[object_manager.py: 1078]
+05/13 23:24:08 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 23:24:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0	[opening_task_samplers.py: 187]
+05/13 23:24:08 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 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725)	[env.py: 845]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145497m	[env.py: 870]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m	[env.py: 871]
+05/13 23:24:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius	[env.py: 907]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -124.3° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5553954  -0.7654501  -0.14549749] yaw=-67.0deg	[env.py: 1019]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting...	[env.py: 969]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40910026 -1.10386749 -0.14549749] yaw=-75.6deg	[env.py: 1019]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56310582 -0.96252438 -0.14549749] yaw=-68.2deg	[env.py: 1019]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/13 23:24:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=379.0ms, total=379.0ms	[env.py: 1075]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.765, -0.145)	[env.py: 1079]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.0 deg	[env.py: 1082]
+05/13 23:24:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m	[env.py: 1086]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/13 23:24:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/13 23:24:08 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 71/72 collected=0/12	[pipeline.py: 1044]
+05/13 23:24:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[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 0.116s, found 245 non-colliding grasps	[grasp_sample.py: 465]
+05/13 23:24:15 INFO: [Worker 0] Feasibility-checked 245 grasps in 6.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/13 23:24:15 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: unsupported operand type(s) for %: 'NoneType' and 'int'	[pipeline.py: 1242]
+05/13 23:24:16 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:24:16 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/13 23:24:16 INFO: [Worker 0] Worker 0 completed house 1: 20/24 successful episodes	[pipeline.py: 1323]
+05/13 23:24:16 INFO: [Worker 0] [PROFILE] House 1 complete: 20/24 successful, 24 episodes, total_time=8126.98s
+  House averages:
+  episode_total: mean=66.26s, total=4770.89s, count=72, min=204.3ms, max=242351.3ms
+  sensor_polling: mean=424.6ms, total=2802.60s, count=6600, min=360.3ms, max=898.5ms
+  save_trajectories: mean=10.22s, total=204.40s, count=20, min=9387.3ms, max=11425.4ms
+  physics_step: mean=25.0ms, total=165.30s, count=6600, min=14.3ms, max=95.6ms
+  save_batch_prep: mean=4.48s, total=89.69s, count=20, min=3980.3ms, max=5022.7ms
+  task_sampling: mean=639.2ms, total=44.11s, count=69, min=412.4ms, max=3905.0ms
+  task_specific_sample: mean=573.5ms, total=41.29s, count=72, min=198.7ms, max=1193.2ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3266.1ms, max=3266.1ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1921.0ms, max=1921.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.1ms, max=1123.1ms
+  task_sampling_failed: mean=245.1ms, total=735.2ms, count=3, min=204.3ms, max=306.0ms
+  compile_mujoco: mean=713.4ms, total=713.4ms, count=1, min=713.4ms, max=713.4ms
+  compile_xml_load: mean=277.4ms, total=277.4ms, count=1, min=277.4ms, max=277.4ms
+  scene_init: mean=157.9ms, total=157.9ms, count=1, min=157.9ms, max=157.9ms
+  scene_randomize: mean=1.9ms, total=135.8ms, count=72, min=1.0ms, max=4.0ms
+  compile_aux_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  compile_aux_policy_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  scene_asset_install: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
+  asset_install_grasps: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms
+  mj_forward_sync: mean=460.7us, total=33.2ms, count=72, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=17.8ms, total=17.8ms, count=1, min=17.8ms, max=17.8ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  policy_setup: mean=18.2us, total=1.3ms, count=69, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/13 23:24:16 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/13 23:24:16 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=8126.98s
+  Worker averages:
+  episode_total: mean=66.26s, total=4770.89s, count=72, min=204.3ms, max=242351.3ms
+  sensor_polling: mean=424.6ms, total=2802.60s, count=6600, min=360.3ms, max=898.5ms
+  save_trajectories: mean=10.22s, total=204.40s, count=20, min=9387.3ms, max=11425.4ms
+  physics_step: mean=25.0ms, total=165.30s, count=6600, min=14.3ms, max=95.6ms
+  save_batch_prep: mean=4.48s, total=89.69s, count=20, min=3980.3ms, max=5022.7ms
+  task_sampling: mean=639.2ms, total=44.11s, count=69, min=412.4ms, max=3905.0ms
+  task_specific_sample: mean=573.5ms, total=41.29s, count=72, min=198.7ms, max=1193.2ms
+  scene_load: mean=3.27s, total=3.27s, count=1, min=3266.1ms, max=3266.1ms
+  scene_env_create: mean=1.92s, total=1.92s, count=1, min=1921.0ms, max=1921.0ms
+  scene_compile: mean=1.12s, total=1.12s, count=1, min=1123.1ms, max=1123.1ms
+  task_sampling_failed: mean=245.1ms, total=735.2ms, count=3, min=204.3ms, max=306.0ms
+  compile_mujoco: mean=713.4ms, total=713.4ms, count=1, min=713.4ms, max=713.4ms
+  compile_xml_load: mean=277.4ms, total=277.4ms, count=1, min=277.4ms, max=277.4ms
+  scene_init: mean=157.9ms, total=157.9ms, count=1, min=157.9ms, max=157.9ms
+  scene_randomize: mean=1.9ms, total=135.8ms, count=72, min=1.0ms, max=4.0ms
+  compile_aux_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  compile_aux_policy_objects: mean=97.7ms, total=97.7ms, count=1, min=97.7ms, max=97.7ms
+  scene_asset_install: mean=63.5ms, total=63.5ms, count=1, min=63.5ms, max=63.5ms
+  asset_install_grasps: mean=43.6ms, total=43.6ms, count=1, min=43.6ms, max=43.6ms
+  mj_forward_sync: mean=460.7us, total=33.2ms, count=72, min=0.4ms, max=0.7ms
+  compile_robot_add: mean=17.8ms, total=17.8ms, count=1, min=17.8ms, max=17.8ms
+  asset_install_objects: mean=15.1ms, total=15.1ms, count=1, min=15.1ms, max=15.1ms
+  asset_install_scene: mean=4.7ms, total=4.7ms, count=1, min=4.7ms, max=4.7ms
+  policy_setup: mean=18.2us, total=1.3ms, count=69, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/13 23:24:19 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/13 23:24:19 INFO: Success count: 20, Total count: 24	[pipeline.py: 1491]
+05/13 23:24:19 INFO: Success rate: 83.33%	[pipeline.py: 1492]
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