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 	[open_close_planner_policy.py: 225]
 05/11 13:54:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
 05/11 13:54:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:19 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:54:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 13:54:19 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 13:54:27 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 13:54:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 13:54:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.08s (batch: 3.88s, save: 10.20s)	[pipeline.py: 300]
+05/11 13:54:33 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.33s:
+  episode_total: mean=169.37s, total=169.37s, count=1, min=169367.0ms, max=169367.0ms
+  sensor_polling: mean=396.9ms, total=119.06s, count=300, min=303.5ms, max=631.6ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10200.1ms, max=10200.1ms
+  physics_step: mean=24.9ms, total=7.48s, count=300, min=14.2ms, max=44.9ms
+  save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3877.5ms, max=3877.5ms
+  task_sampling: mean=331.3ms, total=331.3ms, count=1, min=331.3ms, max=331.3ms
+  task_specific_sample: mean=326.5ms, total=326.5ms, count=1, min=326.5ms, max=326.5ms
+  scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms
+  mj_forward_sync: mean=582.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 13:54:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:54:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:54:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:54:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:54:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:54:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:54:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.053176m	[env.py: 870]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:54:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.87171566  1.19053061  0.05317572] yaw=-142.7deg	[env.py: 1019]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.78652007  0.46892084  0.05317572] yaw=184.9deg	[env.py: 1019]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.86037579  0.3811673   0.05317572] yaw=165.1deg	[env.py: 1019]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:54:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=198.1ms, total=198.1ms	[env.py: 1075]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.872, 1.191, 0.053)	[env.py: 1079]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.7 deg	[env.py: 1082]
+05/11 13:54:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m	[env.py: 1086]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:54:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:54:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:54:35 INFO: [Worker 0] Worker 0 house 1 episode 2/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:54:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:54:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:54:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:54:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:54:36 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:54:37 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.832s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 13:54:37 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 13:54:38 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:54:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:54:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:54:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:54:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:54:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:54:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.008m, effective arm-mount z=0.868m (base_body_z=0.008m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.008266m	[env.py: 870]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:54:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63482713  0.71938693  0.00826574] yaw=-174.1deg	[env.py: 1019]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.61275263  0.57365663  0.00826574] yaw=-179.6deg	[env.py: 1019]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:54:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=193.1ms, total=193.2ms	[env.py: 1075]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.635, 0.719, 0.008)	[env.py: 1079]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.1 deg	[env.py: 1082]
+05/11 13:54:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m	[env.py: 1086]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:54:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:54:40 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:54:40 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:54:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:54:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:54:40 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:54:40 INFO: [Worker 0] Collision-checked 230 grasps in 0.060s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:54:40 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.709s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:54:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.614[m] 82.349[deg]	[grasp_sample.py: 539]
+05/11 13:54:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:54:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:54:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:54:43 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:54:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:54:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:54:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:54:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:54:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:54:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:54:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:55:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:55:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:55:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:55:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 13:55:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 13:55:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:55:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:55:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:55:05 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.504s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:55:05 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.534[deg]	[grasp_sample.py: 539]
+05/11 13:55:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:55:06 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:55:06 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:55:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:55:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:55:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:55:34 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:55:42 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:55:47 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:55:57 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 13:55:57 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=False episode_total=0.47s:
+  episode_total: mean=141.98s, total=141.98s, count=1, min=141977.6ms, max=141977.6ms
+  sensor_polling: mean=396.3ms, total=118.90s, count=300, min=302.5ms, max=757.2ms
+  physics_step: mean=22.5ms, total=6.75s, count=300, min=12.1ms, max=33.0ms
+  task_sampling: mean=474.9ms, total=474.9ms, count=1, min=474.9ms, max=474.9ms
+  task_specific_sample: mean=471.5ms, total=471.5ms, count=1, min=471.5ms, max=471.5ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=355.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 13:55:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:55:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:55:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:55:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:55:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:55:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:55:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.036m, effective arm-mount z=0.896m (base_body_z=0.036m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.035560m	[env.py: 870]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:55:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.88455189  0.32516528  0.03555969] yaw=169.2deg	[env.py: 1019]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76483528  0.52033216  0.03555969] yaw=-170.0deg	[env.py: 1019]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 66.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:55:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.9ms, total=264.0ms	[env.py: 1075]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.885, 0.325, 0.036)	[env.py: 1079]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.2 deg	[env.py: 1082]
+05/11 13:55:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m	[env.py: 1086]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:55:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:55:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:55:59 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:55:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:55:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:55:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:56:00 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:56:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.503s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:56:00 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.392[m] 95.890[deg]	[grasp_sample.py: 539]
+05/11 13:56:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:56:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:56:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:56:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:56:03 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:56:23 INFO: [Worker 0] Worker 0 house 1 episode 2 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:56:26 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:56:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 13:56:26 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 13:56:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:56:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:56:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 13:56:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 13:56:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.94s (batch: 3.72s, save: 10.22s)	[pipeline.py: 300]
+05/11 13:56:40 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.49s:
+  episode_total: mean=177.59s, total=177.59s, count=1, min=177594.8ms, max=177594.8ms
+  sensor_polling: mean=433.5ms, total=130.04s, count=300, min=320.0ms, max=777.6ms
+  save_trajectories: mean=10.22s, total=10.22s, count=1, min=10219.8ms, max=10219.8ms
+  physics_step: mean=22.2ms, total=6.65s, count=300, min=17.1ms, max=30.1ms
+  save_batch_prep: mean=3.72s, total=3.72s, count=1, min=3721.6ms, max=3721.6ms
+  task_sampling: mean=493.5ms, total=493.5ms, count=1, min=493.5ms, max=493.5ms
+  task_specific_sample: mean=487.9ms, total=487.9ms, count=1, min=487.9ms, max=487.9ms
+  scene_randomize: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms
+  mj_forward_sync: mean=935.4us, total=0.9ms, count=1, min=0.9ms, max=0.9ms
+  policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 13:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:56:42 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:56:42 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:56:42 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:56:42 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:56:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.061m, effective arm-mount z=0.921m (base_body_z=0.061m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.061228m	[env.py: 870]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.88800031  0.45550273  0.06122824] yaw=172.6deg	[env.py: 1019]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.95476198  0.12685407  0.06122824] yaw=151.6deg	[env.py: 1019]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-1.0694681   1.11400599  0.06122824] yaw=-123.8deg	[env.py: 1019]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=157.5ms, total=157.6ms	[env.py: 1075]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.888, 0.456, 0.061)	[env.py: 1079]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
+05/11 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m	[env.py: 1086]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:56:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:56:42 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:56:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:56:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:56:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:56:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:56:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:56:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.716s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:56:43 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.414[m] 98.384[deg]	[grasp_sample.py: 539]
+05/11 13:56:43 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:56:44 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:56:44 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:56:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:56:45 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:56:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 13:56:45 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/11 13:56:50 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:56:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 13:56:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 13:56:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.92s (batch: 4.06s, save: 9.86s)	[pipeline.py: 300]
+05/11 13:57:00 INFO: [Worker 0] [PROFILE] Episode 2 house 1 success=True episode_total=0.43s:
+  episode_total: mean=171.34s, total=171.34s, count=1, min=171338.6ms, max=171338.6ms
+  sensor_polling: mean=434.8ms, total=124.35s, count=286, min=322.5ms, max=753.7ms
+  save_trajectories: mean=9.86s, total=9.86s, count=1, min=9857.0ms, max=9857.0ms
+  physics_step: mean=22.8ms, total=6.51s, count=286, min=17.2ms, max=33.6ms
+  save_batch_prep: mean=4.06s, total=4.06s, count=1, min=4060.3ms, max=4060.3ms
+  task_sampling: mean=431.8ms, total=431.8ms, count=1, min=431.8ms, max=431.8ms
+  task_specific_sample: mean=427.7ms, total=427.7ms, count=1, min=427.7ms, max=427.7ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=578.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 13:57:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:57:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:57:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:57:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:57:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:57:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:57:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.015m, effective arm-mount z=0.875m (base_body_z=0.015m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.015225m	[env.py: 870]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:57:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.84915667  1.04197098  0.01522484] yaw=-151.7deg	[env.py: 1019]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96065132  0.62741196  0.01522484] yaw=-163.7deg	[env.py: 1019]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -173.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 58.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.87419688  1.1942008   0.01522484] yaw=-134.4deg	[env.py: 1019]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:57:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=164.4ms, total=164.5ms	[env.py: 1075]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.849, 1.042, 0.015)	[env.py: 1079]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.7 deg	[env.py: 1082]
+05/11 13:57:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.021m	[env.py: 1086]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:57:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:57:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:57:02 INFO: [Worker 0] Worker 0 house 1 episode 3/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:57:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:57:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:57:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:57:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:57:04 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.901s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:57:04 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.634[m] 97.974[deg]	[grasp_sample.py: 539]
+05/11 13:57:04 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:57:04 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:57:04 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:57:12 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:57:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 13:57:12 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 13:57:22 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 13:57:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 13:57:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.73s (batch: 4.03s, save: 9.70s)	[pipeline.py: 300]
+05/11 13:57:26 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.88s:
+  episode_total: mean=84.42s, total=168.83s, count=2, min=2496.8ms, max=166335.5ms
+  sensor_polling: mean=395.2ms, total=118.55s, count=300, min=297.5ms, max=693.7ms
+  save_trajectories: mean=9.70s, total=9.70s, count=1, min=9700.5ms, max=9700.5ms
+  physics_step: mean=22.8ms, total=6.83s, count=300, min=14.6ms, max=54.3ms
+  save_batch_prep: mean=4.03s, total=4.03s, count=1, min=4028.8ms, max=4028.8ms
+  task_sampling: mean=441.9ms, total=883.9ms, count=2, min=404.6ms, max=479.3ms
+  task_specific_sample: mean=438.3ms, total=876.6ms, count=2, min=400.9ms, max=475.7ms
+  scene_randomize: mean=1.9ms, total=3.7ms, count=2, min=1.5ms, max=2.2ms
+  mj_forward_sync: mean=430.8us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=22.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 13:57:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:57:27 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:57:27 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:57:27 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:57:27 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:57:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:57:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.076965m	[env.py: 870]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:57:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83184211  0.13898239  0.07696456] yaw=156.0deg	[env.py: 1019]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 115.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.63494708  0.31411177  0.07696456] yaw=181.0deg	[env.py: 1019]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.18566575  1.0394262   0.07696456] yaw=-137.6deg	[env.py: 1019]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:57:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.7ms, total=121.7ms	[env.py: 1075]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.832, 0.139, 0.077)	[env.py: 1079]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 156.0 deg	[env.py: 1082]
+05/11 13:57:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m	[env.py: 1086]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:57:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:57:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:57:28 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:57:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:57:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:57:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:57:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:57:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.797s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:57:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.488[m] 95.378[deg]	[grasp_sample.py: 539]
+05/11 13:57:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:57:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:57:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:57:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:30 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:57:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:34 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:57:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 13:57:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 13:57:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:57:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:57:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:57:35 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.491s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:57:35 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.053[m] 0.878[deg]	[grasp_sample.py: 539]
+05/11 13:57:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:57:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:57:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:57:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:57:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:58:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:15 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:58:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:58:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:58:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 13:58:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 13:58:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:58:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:58:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:58:28 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.571s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:58:28 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.174[deg]	[grasp_sample.py: 539]
+05/11 13:58:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:58:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:58:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:40 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:58:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 13:58:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 13:58:47 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:58:51 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 13:58:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 13:58:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.72s (batch: 4.10s, save: 10.62s)	[pipeline.py: 300]
+05/11 13:58:55 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.54s:
+  episode_total: mean=176.51s, total=176.51s, count=1, min=176506.6ms, max=176506.6ms
+  sensor_polling: mean=382.5ms, total=114.76s, count=300, min=298.0ms, max=710.7ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10621.4ms, max=10621.4ms
+  physics_step: mean=23.0ms, total=6.89s, count=300, min=13.6ms, max=54.3ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4103.1ms, max=4103.1ms
+  task_sampling: mean=536.2ms, total=536.2ms, count=1, min=536.2ms, max=536.2ms
+  task_specific_sample: mean=532.7ms, total=532.7ms, count=1, min=532.7ms, max=532.7ms
+  scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms
+  mj_forward_sync: mean=558.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 13:58:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:58:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:58:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:58:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:58:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:58:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:58:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077900m	[env.py: 870]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:58:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.68328153  0.45505136  0.07790009] yaw=184.0deg	[env.py: 1019]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 120.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.72892255  0.10494205  0.07790009] yaw=164.1deg	[env.py: 1019]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.61455567  0.61490287  0.07790009] yaw=-175.4deg	[env.py: 1019]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:58:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=288.3ms, total=288.3ms	[env.py: 1075]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.683, 0.455, 0.078)	[env.py: 1079]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 184.0 deg	[env.py: 1082]
+05/11 13:58:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m	[env.py: 1086]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:58:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:58:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:58:57 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:58:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:58:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:58:58 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:58:58 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:58:59 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.935s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:58:59 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.555[m] 86.477[deg]	[grasp_sample.py: 539]
+05/11 13:58:59 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:58:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:58:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:58:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:59:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:23 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:59:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 13:59:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 13:59:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 13:59:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:59:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:59:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:59:31 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.585s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:59:31 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.602[deg]	[grasp_sample.py: 539]
+05/11 13:59:32 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 13:59:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 13:59:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 13:59:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:59:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 13:59:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 13:59:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 13:59:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.035m, effective arm-mount z=0.895m (base_body_z=0.035m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.034715m	[env.py: 870]
+05/11 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 13:59:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 125.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 95.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8807624   0.19103201  0.03471522] yaw=167.9deg	[env.py: 1019]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 103.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.81132376  0.10504497  0.03471522] yaw=162.5deg	[env.py: 1019]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 13:59:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=181.7ms, total=181.8ms	[env.py: 1075]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.191, 0.035)	[env.py: 1079]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 167.9 deg	[env.py: 1082]
+05/11 13:59:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m	[env.py: 1086]
+05/11 13:59:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 13:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 13:59:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 13:59:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 13:59:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 13:59:34 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 13:59:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s	[base_object_manipulation_planner_policy.py: 377]
+05/11 13:59:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 13:59:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 13:59:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 13:59:35 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.942s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 13:59:35 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.445[m] 98.250[deg]	[grasp_sample.py: 539]
+05/11 13:59:35 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 13:59:35 INFO: [Worker 0] Worker 0 house 1 episode 3 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 13:59:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 13:59:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:59:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 13:59:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:59:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:59:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 13:59:47 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 13:59:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 13:59:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 13:59:59 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 13:59:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 13:59:59 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:00:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:00:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:00:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.51s (batch: 4.02s, save: 10.49s)	[pipeline.py: 300]
+05/11 14:00:03 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.45s:
+  episode_total: mean=181.38s, total=181.38s, count=1, min=181384.2ms, max=181384.2ms
+  sensor_polling: mean=431.1ms, total=129.34s, count=300, min=332.0ms, max=718.8ms
+  save_trajectories: mean=10.49s, total=10.49s, count=1, min=10485.4ms, max=10485.4ms
+  physics_step: mean=23.3ms, total=6.99s, count=300, min=13.4ms, max=64.1ms
+  save_batch_prep: mean=4.02s, total=4.02s, count=1, min=4024.0ms, max=4024.0ms
+  task_sampling: mean=450.9ms, total=450.9ms, count=1, min=450.9ms, max=450.9ms
+  task_specific_sample: mean=446.2ms, total=446.2ms, count=1, min=446.2ms, max=446.2ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=620.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=24.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:00:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:00:04 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:00:04 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:04 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:00:04 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:00:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:00:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077517m	[env.py: 870]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:00:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.15714437  1.09945289  0.077517  ] yaw=-121.2deg	[env.py: 1019]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.7089742   0.72024567  0.077517  ] yaw=-174.9deg	[env.py: 1019]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 83.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.88106503  1.10764536  0.077517  ] yaw=-140.6deg	[env.py: 1019]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:00:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.2ms, total=138.3ms	[env.py: 1075]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.157, 1.099, 0.078)	[env.py: 1079]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -121.2 deg	[env.py: 1082]
+05/11 14:00:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m	[env.py: 1086]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:05 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:00:05 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:00:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:00:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:00:05 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:00:05 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:00:06 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.983s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:00:06 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 92.647[deg]	[grasp_sample.py: 539]
+05/11 14:00:07 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:00:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:00:09 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:00:09 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:09 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:00:09 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:00:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:00:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.077m, effective arm-mount z=0.937m (base_body_z=0.077m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077447m	[env.py: 870]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:00:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.80372559  0.30764321  0.07744651] yaw=179.0deg	[env.py: 1019]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86896856  0.66500801  0.07744651] yaw=-165.4deg	[env.py: 1019]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70802744  0.89958668  0.07744651] yaw=-150.2deg	[env.py: 1019]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:00:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.6ms	[env.py: 1075]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.804, 0.308, 0.077)	[env.py: 1079]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.0 deg	[env.py: 1082]
+05/11 14:00:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m	[env.py: 1086]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:00:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:00:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:00:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:00:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:00:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:00:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.601s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:00:10 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.471[m] 89.032[deg]	[grasp_sample.py: 539]
+05/11 14:00:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:00:11 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:00:11 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:00:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:00:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:00:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:00:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.12s (batch: 3.43s, save: 10.69s)	[pipeline.py: 300]
+05/11 14:00:13 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=0.47s:
+  episode_total: mean=211.49s, total=211.49s, count=1, min=211492.7ms, max=211492.7ms
+  sensor_polling: mean=447.2ms, total=134.17s, count=300, min=313.2ms, max=830.3ms
+  save_trajectories: mean=10.69s, total=10.69s, count=1, min=10686.0ms, max=10686.0ms
+  physics_step: mean=22.4ms, total=6.72s, count=300, min=13.7ms, max=53.3ms
+  save_batch_prep: mean=3.43s, total=3.43s, count=1, min=3430.9ms, max=3430.9ms
+  task_sampling: mean=465.1ms, total=465.1ms, count=1, min=465.1ms, max=465.1ms
+  task_specific_sample: mean=461.6ms, total=461.6ms, count=1, min=461.6ms, max=461.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=396.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=46.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:00:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:00:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:00:15 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:00:15 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:15 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:00:15 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:00:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:00:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091158m	[env.py: 870]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:00:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.6773115   0.37451627  0.09115776] yaw=175.3deg	[env.py: 1019]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.76526291  0.98251426  0.09115776] yaw=-161.8deg	[env.py: 1019]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 107.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.72048957  0.03325805  0.09115776] yaw=154.9deg	[env.py: 1019]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:00:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.0ms, total=129.1ms	[env.py: 1075]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.677, 0.375, 0.091)	[env.py: 1079]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.3 deg	[env.py: 1082]
+05/11 14:00:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:00:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:00:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:00:15 INFO: [Worker 0] Worker 0 house 1 episode 4/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:00:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:00:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:00:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:00:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:00:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.610s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:00:16 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.594[m] 88.602[deg]	[grasp_sample.py: 539]
+05/11 14:00:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:00:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:00:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:00:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:00:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:00:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:00:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:01:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:11 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:12 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:01:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:01:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:01:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:01:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:01:19 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.483s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:01:19 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.641[deg]	[grasp_sample.py: 539]
+05/11 14:01:20 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:01:20 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:01:21 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:01:21 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:24 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:01:34 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:01:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:01:34 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:01:35 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:01:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:01:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:01:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.01s (batch: 3.71s, save: 10.30s)	[pipeline.py: 300]
+05/11 14:01:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:49 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.58s:
+  episode_total: mean=171.87s, total=171.87s, count=1, min=171874.5ms, max=171874.5ms
+  sensor_polling: mean=387.4ms, total=116.21s, count=300, min=301.7ms, max=730.0ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10302.0ms, max=10302.0ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=15.9ms, max=54.7ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3707.8ms, max=3707.8ms
+  task_sampling: mean=577.0ms, total=577.0ms, count=1, min=577.0ms, max=577.0ms
+  task_specific_sample: mean=573.0ms, total=573.0ms, count=1, min=573.0ms, max=573.0ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=557.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 14:01:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:01:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:01:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:01:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:01:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:01:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:01:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.047m, effective arm-mount z=0.907m (base_body_z=0.047m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.046619m	[env.py: 870]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:01:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.74269856  0.47288291  0.04661934] yaw=172.6deg	[env.py: 1019]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.09915211  1.08839547  0.04661934] yaw=-145.4deg	[env.py: 1019]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.69747469  0.19563971  0.04661934] yaw=156.8deg	[env.py: 1019]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:01:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=90.7ms, total=90.8ms	[env.py: 1075]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.743, 0.473, 0.047)	[env.py: 1079]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 172.6 deg	[env.py: 1082]
+05/11 14:01:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m	[env.py: 1086]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:01:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:01:51 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:01:51 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:01:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:01:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:01:51 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:01:51 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:01:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.678s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:01:51 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.501[m] 90.178[deg]	[grasp_sample.py: 539]
+05/11 14:01:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:01:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:01:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:01:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:02:15 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:02:31 INFO: [Worker 0] Worker 0 house 1 episode 4 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:02:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:02:40 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:02:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:02:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:02:40 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:02:44 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:02:47 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:02:52 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:02:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:02:52 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:02:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:02:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:02:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.98s (batch: 3.71s, save: 9.27s)	[pipeline.py: 300]
+05/11 14:02:53 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.82s:
+  episode_total: mean=162.28s, total=324.56s, count=2, min=124705.8ms, max=199855.4ms
+  sensor_polling: mean=403.5ms, total=224.74s, count=557, min=298.9ms, max=726.4ms
+  physics_step: mean=24.0ms, total=13.39s, count=557, min=13.5ms, max=65.4ms
+  save_trajectories: mean=9.27s, total=9.27s, count=1, min=9270.0ms, max=9270.0ms
+  save_batch_prep: mean=3.71s, total=3.71s, count=1, min=3710.9ms, max=3710.9ms
+  task_sampling: mean=410.7ms, total=821.4ms, count=2, min=405.6ms, max=415.8ms
+  task_specific_sample: mean=406.2ms, total=812.5ms, count=2, min=400.5ms, max=412.0ms
+  scene_randomize: mean=2.5ms, total=4.9ms, count=2, min=2.4ms, max=2.6ms
+  mj_forward_sync: mean=463.4us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=20.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:02:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:02:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:02:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:02:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:02:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:02:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:02:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.031347m	[env.py: 870]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:02:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79950992  0.20885818  0.03134719] yaw=174.2deg	[env.py: 1019]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.96125004  0.67152009  0.03134719] yaw=-165.9deg	[env.py: 1019]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:02:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=290.4ms, total=290.4ms	[env.py: 1075]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.800, 0.209, 0.031)	[env.py: 1079]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.2 deg	[env.py: 1082]
+05/11 14:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.943m	[env.py: 1086]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:02:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:02:55 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:02:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:02:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:02:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:02:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:02:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.569s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:02:56 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.524[m] 90.092[deg]	[grasp_sample.py: 539]
+05/11 14:02:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:02:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:02:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:02:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:03:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:03:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:03:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.09s (batch: 3.79s, save: 10.30s)	[pipeline.py: 300]
+05/11 14:03:07 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=0.41s:
+  episode_total: mean=172.14s, total=172.14s, count=1, min=172137.8ms, max=172137.8ms
+  sensor_polling: mean=420.4ms, total=126.12s, count=300, min=317.0ms, max=764.5ms
+  save_trajectories: mean=10.30s, total=10.30s, count=1, min=10302.6ms, max=10302.6ms
+  physics_step: mean=23.1ms, total=6.92s, count=300, min=17.2ms, max=31.5ms
+  save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3785.1ms, max=3785.1ms
+  task_sampling: mean=408.2ms, total=408.2ms, count=1, min=408.2ms, max=408.2ms
+  task_specific_sample: mean=404.6ms, total=404.6ms, count=1, min=404.6ms, max=404.6ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=394.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=32.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:03:08 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:03:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:03:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:03:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:03:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:03:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:03:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:03:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:03:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.064m, effective arm-mount z=0.924m (base_body_z=0.064m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.063810m	[env.py: 870]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:03:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 100.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.89781091  0.72038882  0.06381042] yaw=-166.0deg	[env.py: 1019]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.84282278  1.08293902  0.06381042] yaw=-135.9deg	[env.py: 1019]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.03530195  1.02457628  0.06381042] yaw=-133.0deg	[env.py: 1019]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:03:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.0ms, total=143.0ms	[env.py: 1075]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.898, 0.720, 0.064)	[env.py: 1079]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.0 deg	[env.py: 1082]
+05/11 14:03:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m	[env.py: 1086]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:09 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:03:09 INFO: [Worker 0] Worker 0 house 1 episode 5/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:03:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:03:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:03:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:03:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:03:10 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.854s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:03:10 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.367[m] 77.626[deg]	[grasp_sample.py: 539]
+05/11 14:03:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:03:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:03:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:03:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:03:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.50s (batch: 4.11s, save: 10.38s)	[pipeline.py: 300]
+05/11 14:03:23 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.80s:
+  episode_total: mean=98.13s, total=196.27s, count=2, min=2530.3ms, max=193737.4ms
+  sensor_polling: mean=424.6ms, total=127.39s, count=300, min=314.8ms, max=725.9ms
+  save_trajectories: mean=10.38s, total=10.38s, count=1, min=10382.6ms, max=10382.6ms
+  physics_step: mean=23.7ms, total=7.12s, count=300, min=17.2ms, max=36.2ms
+  save_batch_prep: mean=4.11s, total=4.11s, count=1, min=4113.8ms, max=4113.8ms
+  task_sampling: mean=400.2ms, total=800.3ms, count=2, min=378.4ms, max=421.9ms
+  task_specific_sample: mean=394.7ms, total=789.4ms, count=2, min=371.7ms, max=417.7ms
+  scene_randomize: mean=2.7ms, total=5.5ms, count=2, min=2.7ms, max=2.8ms
+  mj_forward_sync: mean=541.4us, total=1.1ms, count=2, min=0.5ms, max=0.6ms
+  policy_setup: mean=36.1us, total=0.1ms, count=2, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:03:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:03:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:03:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:03:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:03:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:03:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.090m, effective arm-mount z=0.950m (base_body_z=0.090m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.089700m	[env.py: 870]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:03:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.92403306  1.23542255  0.08969973] yaw=-135.8deg	[env.py: 1019]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.83782916  0.95526563  0.08969973] yaw=-142.9deg	[env.py: 1019]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.63829223  0.52768473  0.08969973] yaw=-187.1deg	[env.py: 1019]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:03:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=184.5ms, total=184.5ms	[env.py: 1075]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.924, 1.235, 0.090)	[env.py: 1079]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.8 deg	[env.py: 1082]
+05/11 14:03:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m	[env.py: 1086]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:03:25 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:03:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.091s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:03:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:03:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:03:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.062s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:03:27 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.080s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 14:03:27 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 14:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:03:30 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:03:30 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:30 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:03:30 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.021m, effective arm-mount z=0.881m (base_body_z=0.021m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.021207m	[env.py: 870]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90225075  0.91974524  0.02120659] yaw=-162.7deg	[env.py: 1019]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 70.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88166278  0.80391091  0.02120659] yaw=-151.9deg	[env.py: 1019]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=193.9ms, total=193.9ms	[env.py: 1075]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.902, 0.920, 0.021)	[env.py: 1079]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -162.7 deg	[env.py: 1082]
+05/11 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m	[env.py: 1086]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:03:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:03:31 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:03:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.082s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:03:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:03:31 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:03:31 INFO: [Worker 0] Collision-checked 230 grasps in 0.069s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:03:31 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.702s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:03:31 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.474[m] 83.632[deg]	[grasp_sample.py: 539]
+05/11 14:03:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:03:32 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:03:32 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:37 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:03:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:03:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:03:56 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:04:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:04:18 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:04:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:04:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:04:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:04:27 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:04:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:04:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:04:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.97s (batch: 5.19s, save: 10.79s)	[pipeline.py: 300]
+05/11 14:04:35 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.35s:
+  episode_total: mean=164.53s, total=164.53s, count=1, min=164531.8ms, max=164531.8ms
+  sensor_polling: mean=383.3ms, total=114.98s, count=300, min=303.7ms, max=759.8ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10785.4ms, max=10785.4ms
+  physics_step: mean=22.7ms, total=6.81s, count=300, min=13.0ms, max=29.8ms
+  save_batch_prep: mean=5.19s, total=5.19s, count=1, min=5185.1ms, max=5185.1ms
+  task_sampling: mean=348.3ms, total=348.3ms, count=1, min=348.3ms, max=348.3ms
+  task_specific_sample: mean=344.4ms, total=344.4ms, count=1, min=344.4ms, max=344.4ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=524.8us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:04:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:04:36 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:04:36 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:04:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:04:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:04:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:04:36 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:04:36 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:04:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:04:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.011m, effective arm-mount z=0.871m (base_body_z=0.011m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.010715m	[env.py: 870]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:04:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 118.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 118.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.73344915  0.38809387  0.01071453] yaw=169.0deg	[env.py: 1019]
+05/11 14:04:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:04:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=193.0ms, total=193.0ms	[env.py: 1075]
+05/11 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.733, 0.388, 0.011)	[env.py: 1079]
+05/11 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.0 deg	[env.py: 1082]
+05/11 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/11 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:04:37 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:04:37 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:04:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.088s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:04:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:04:37 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:04:37 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:04:38 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.742s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:04:38 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.561[m] 98.571[deg]	[grasp_sample.py: 539]
+05/11 14:04:38 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:04:38 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:04:38 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:04:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:04:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:05:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:05:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:05:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:05:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:05:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:05:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.447s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:05:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.232[deg]	[grasp_sample.py: 539]
+05/11 14:05:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:05:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:05:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:05:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:05:15 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:05:25 INFO: [Worker 0] Worker 0 house 1 episode 5 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:05:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:05:34 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:05:37 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:05:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:05:37 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:05:38 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:05:45 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:05:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:05:45 INFO: [Worker 0] Preparing episode data: 294 timesteps	[save_utils.py: 278]
+05/11 14:05:47 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:05:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:05:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:05:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.60s (batch: 3.62s, save: 8.99s)	[pipeline.py: 300]
+05/11 14:05:50 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.53s:
+  episode_total: mean=175.65s, total=175.65s, count=1, min=175653.3ms, max=175653.3ms
+  sensor_polling: mean=394.7ms, total=118.40s, count=300, min=305.9ms, max=753.7ms
+  save_trajectories: mean=8.99s, total=8.99s, count=1, min=8985.8ms, max=8985.8ms
+  physics_step: mean=24.3ms, total=7.29s, count=300, min=17.2ms, max=59.4ms
+  save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3618.0ms, max=3618.0ms
+  task_sampling: mean=534.0ms, total=534.0ms, count=1, min=534.0ms, max=534.0ms
+  task_specific_sample: mean=530.5ms, total=530.5ms, count=1, min=530.5ms, max=530.5ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=345.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:05:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:05:52 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:05:52 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:05:52 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:05:52 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:05:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:05:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.095m, effective arm-mount z=0.955m (base_body_z=0.095m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.095474m	[env.py: 870]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:05:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 113.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 93.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74084153 -0.00638024  0.09547358] yaw=146.7deg	[env.py: 1019]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93900431  0.29125153  0.09547358] yaw=155.5deg	[env.py: 1019]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.89343866  0.30648706  0.09547358] yaw=177.8deg	[env.py: 1019]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:05:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.4ms, total=153.4ms	[env.py: 1075]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.741, -0.006, 0.095)	[env.py: 1079]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 146.7 deg	[env.py: 1082]
+05/11 14:05:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m	[env.py: 1086]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:05:52 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:05:52 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:05:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:05:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:05:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:05:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:05:54 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.101s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:05:54 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.695[m] 101.237[deg]	[grasp_sample.py: 539]
+05/11 14:05:54 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:05:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:05:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:05:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:05:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:05:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:05:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.34s (batch: 3.13s, save: 10.21s)	[pipeline.py: 300]
+05/11 14:05:59 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=0.43s:
+  episode_total: mean=170.81s, total=170.81s, count=1, min=170811.3ms, max=170811.3ms
+  sensor_polling: mean=429.3ms, total=125.78s, count=293, min=293.5ms, max=818.7ms
+  save_trajectories: mean=10.21s, total=10.21s, count=1, min=10212.8ms, max=10212.8ms
+  physics_step: mean=21.9ms, total=6.40s, count=293, min=17.3ms, max=63.0ms
+  save_batch_prep: mean=3.13s, total=3.13s, count=1, min=3129.3ms, max=3129.3ms
+  task_sampling: mean=427.3ms, total=427.3ms, count=1, min=427.3ms, max=427.3ms
+  task_specific_sample: mean=423.7ms, total=423.7ms, count=1, min=423.7ms, max=423.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=401.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=29.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:06:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:06:00 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:06:00 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:06:00 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:06:00 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:06:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:06:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.099291m	[env.py: 870]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:06:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88089653  0.67839605  0.09929084] yaw=-166.2deg	[env.py: 1019]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 153.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -158.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.78425337  0.35565433  0.09929084] yaw=171.3deg	[env.py: 1019]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:06:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms	[env.py: 1075]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.881, 0.678, 0.099)	[env.py: 1079]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -166.2 deg	[env.py: 1082]
+05/11 14:06:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.845m	[env.py: 1086]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:06:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:06:01 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:06:01 INFO: [Worker 0] Worker 0 house 1 episode 6/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:06:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:06:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:06:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:06:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:06:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.554s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:06:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.378[m] 85.253[deg]	[grasp_sample.py: 539]
+05/11 14:06:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:06:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:06:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:06:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:06:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:06:10 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:06:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:06:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:06:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.46s (batch: 5.37s, save: 9.09s)	[pipeline.py: 300]
+05/11 14:06:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.96s:
+  episode_total: mean=88.73s, total=177.46s, count=2, min=2738.1ms, max=174720.2ms
+  sensor_polling: mean=419.9ms, total=125.96s, count=300, min=313.3ms, max=607.6ms
+  save_trajectories: mean=9.09s, total=9.09s, count=1, min=9087.6ms, max=9087.6ms
+  physics_step: mean=22.3ms, total=6.70s, count=300, min=17.4ms, max=35.9ms
+  save_batch_prep: mean=5.37s, total=5.37s, count=1, min=5370.5ms, max=5370.5ms
+  task_sampling: mean=480.0ms, total=960.1ms, count=2, min=465.4ms, max=494.7ms
+  task_specific_sample: mean=473.7ms, total=947.3ms, count=2, min=457.1ms, max=490.2ms
+  scene_randomize: mean=2.8ms, total=5.7ms, count=2, min=2.7ms, max=3.0ms
+  mj_forward_sync: mean=604.3us, total=1.2ms, count=2, min=0.6ms, max=0.6ms
+  policy_setup: mean=30.0us, total=0.1ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:06:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:06:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:06:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:06:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:06:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:06:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:06:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070339m	[env.py: 870]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:06:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7028385   0.5658152   0.07033912] yaw=-174.5deg	[env.py: 1019]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68961457  0.07113562  0.07033912] yaw=159.0deg	[env.py: 1019]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.02628515  1.0123137   0.07033912] yaw=-141.6deg	[env.py: 1019]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:06:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=130.3ms, total=130.3ms	[env.py: 1075]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.703, 0.566, 0.070)	[env.py: 1079]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -174.5 deg	[env.py: 1082]
+05/11 14:06:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m	[env.py: 1086]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:06:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:06:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:06:27 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:06:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:06:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:06:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:06:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:06:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.902s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:06:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.571[m] 91.072[deg]	[grasp_sample.py: 539]
+05/11 14:06:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:06:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:06:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:06:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:06:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:06:44 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:06:44 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:06:48 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:06:51 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:07:00 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:07:04 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:07:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:07:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:07:08 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:07:19 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:07:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:07:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:07:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.33s (batch: 4.04s, save: 10.29s)	[pipeline.py: 300]
+05/11 14:07:23 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.48s:
+  episode_total: mean=166.37s, total=166.37s, count=1, min=166370.8ms, max=166370.8ms
+  sensor_polling: mean=390.4ms, total=117.12s, count=300, min=296.2ms, max=779.5ms
+  save_trajectories: mean=10.29s, total=10.29s, count=1, min=10290.5ms, max=10290.5ms
+  physics_step: mean=23.5ms, total=7.06s, count=300, min=13.3ms, max=31.0ms
+  save_batch_prep: mean=4.04s, total=4.04s, count=1, min=4042.4ms, max=4042.4ms
+  task_sampling: mean=481.3ms, total=481.3ms, count=1, min=481.3ms, max=481.3ms
+  task_specific_sample: mean=476.5ms, total=476.5ms, count=1, min=476.5ms, max=476.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=553.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:07:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:07:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:07:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:07:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:07:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:07:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:07:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.069m, effective arm-mount z=0.929m (base_body_z=0.069m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069231m	[env.py: 870]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:07:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.68012232  0.34638351  0.06923074] yaw=170.7deg	[env.py: 1019]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.13679265  1.06319118  0.06923074] yaw=-135.3deg	[env.py: 1019]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.87769952  0.94699951  0.06923074] yaw=-145.6deg	[env.py: 1019]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:07:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.5ms, total=286.5ms	[env.py: 1075]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.680, 0.346, 0.069)	[env.py: 1079]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.7 deg	[env.py: 1082]
+05/11 14:07:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m	[env.py: 1086]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:07:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:07:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:07:25 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:07:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:07:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:07:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:07:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:07:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.685s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:07:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.566[m] 86.788[deg]	[grasp_sample.py: 539]
+05/11 14:07:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:07:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:07:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:07:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:07:28 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:07:32 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:07:59 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:08:14 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:08:17 INFO: [Worker 0] Worker 0 house 1 episode 6 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:08:21 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:08:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:08:21 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:08:23 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:08:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:08:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:08:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:08:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.59s (batch: 5.48s, save: 9.11s)	[pipeline.py: 300]
+05/11 14:08:36 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.36s:
+  episode_total: mean=164.28s, total=164.28s, count=1, min=164276.3ms, max=164276.3ms
+  sensor_polling: mean=384.4ms, total=115.33s, count=300, min=295.8ms, max=763.6ms
+  save_trajectories: mean=9.11s, total=9.11s, count=1, min=9107.9ms, max=9107.9ms
+  physics_step: mean=22.1ms, total=6.63s, count=300, min=13.2ms, max=35.7ms
+  save_batch_prep: mean=5.48s, total=5.48s, count=1, min=5483.6ms, max=5483.6ms
+  task_sampling: mean=362.8ms, total=362.8ms, count=1, min=362.8ms, max=362.8ms
+  task_specific_sample: mean=359.3ms, total=359.3ms, count=1, min=359.3ms, max=359.3ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=342.1us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=19.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:08:36 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:08:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:08:36 INFO: [Worker 0] Preparing episode data: 298 timesteps	[save_utils.py: 278]
+05/11 14:08:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:08:38 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:08:38 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:08:38 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:08:38 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:08:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:08:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.017m, effective arm-mount z=0.877m (base_body_z=0.017m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017218m	[env.py: 870]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:08:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.78249837  0.3360115   0.01721811] yaw=174.8deg	[env.py: 1019]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -75.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73279526  0.65010571  0.01721811] yaw=-165.8deg	[env.py: 1019]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.70108663  0.19098611  0.01721811] yaw=169.9deg	[env.py: 1019]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:08:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=133.1ms, total=133.2ms	[env.py: 1075]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.782, 0.336, 0.017)	[env.py: 1079]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 174.8 deg	[env.py: 1082]
+05/11 14:08:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m	[env.py: 1086]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:08:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:08:39 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:08:39 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:08:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:08:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:08:39 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:08:39 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:08:39 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:08:40 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.764s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:08:40 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.482[m] 91.378[deg]	[grasp_sample.py: 539]
+05/11 14:08:40 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:08:40 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:08:40 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:08:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:08:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:08:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:08:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.86s (batch: 3.40s, save: 8.46s)	[pipeline.py: 300]
+05/11 14:08:48 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=0.54s:
+  episode_total: mean=168.25s, total=168.25s, count=1, min=168251.3ms, max=168251.3ms
+  sensor_polling: mean=421.7ms, total=125.23s, count=297, min=315.5ms, max=765.6ms
+  save_trajectories: mean=8.46s, total=8.46s, count=1, min=8455.8ms, max=8455.8ms
+  physics_step: mean=22.2ms, total=6.58s, count=297, min=17.0ms, max=28.5ms
+  save_batch_prep: mean=3.40s, total=3.40s, count=1, min=3401.7ms, max=3401.7ms
+  task_sampling: mean=536.5ms, total=536.5ms, count=1, min=536.5ms, max=536.5ms
+  task_specific_sample: mean=532.3ms, total=532.3ms, count=1, min=532.3ms, max=532.3ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=566.4us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=31.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:08:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:08:50 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:08:50 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:08:50 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:08:50 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:08:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:08:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.084m, effective arm-mount z=0.944m (base_body_z=0.084m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084094m	[env.py: 870]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:08:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.95853838  0.18451282  0.08409412] yaw=159.3deg	[env.py: 1019]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 111.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 95.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.90692446  0.4892102   0.08409412] yaw=-171.8deg	[env.py: 1019]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:08:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=200.8ms, total=200.8ms	[env.py: 1075]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.959, 0.185, 0.084)	[env.py: 1079]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 159.3 deg	[env.py: 1082]
+05/11 14:08:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m	[env.py: 1086]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:08:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:08:50 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:08:50 INFO: [Worker 0] Worker 0 house 1 episode 7/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:08:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:08:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:08:50 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:08:50 INFO: [Worker 0] Collision-checked 230 grasps in 0.055s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:08:51 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.502s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:08:51 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.345[m] 79.377[deg]	[grasp_sample.py: 539]
+05/11 14:08:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:08:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:08:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:08:52 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:09:05 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:09:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:09:05 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:09:18 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:09:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:09:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.75s (batch: 4.56s, save: 12.19s)	[pipeline.py: 300]
+05/11 14:09:22 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.45s:
+  episode_total: mean=175.95s, total=175.95s, count=1, min=175951.7ms, max=175951.7ms
+  sensor_polling: mean=407.4ms, total=122.21s, count=300, min=310.7ms, max=729.8ms
+  save_trajectories: mean=12.19s, total=12.19s, count=1, min=12187.1ms, max=12187.1ms
+  physics_step: mean=21.8ms, total=6.53s, count=300, min=15.1ms, max=28.2ms
+  save_batch_prep: mean=4.56s, total=4.56s, count=1, min=4563.5ms, max=4563.5ms
+  task_sampling: mean=449.4ms, total=449.4ms, count=1, min=449.4ms, max=449.4ms
+  task_specific_sample: mean=444.6ms, total=444.6ms, count=1, min=444.6ms, max=444.6ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=411.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.6us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:09:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:09:24 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:09:24 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:09:24 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:09:24 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:09:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:09:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.018m, effective arm-mount z=0.878m (base_body_z=0.018m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.017844m	[env.py: 870]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:09:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 67.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -57.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92728756  0.26819365  0.01784411] yaw=168.8deg	[env.py: 1019]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76478918  0.87966882  0.01784411] yaw=-155.4deg	[env.py: 1019]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.86404786  0.28849871  0.01784411] yaw=155.6deg	[env.py: 1019]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:09:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=243.2ms, total=243.2ms	[env.py: 1075]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.927, 0.268, 0.018)	[env.py: 1079]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 168.8 deg	[env.py: 1082]
+05/11 14:09:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m	[env.py: 1086]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:09:24 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:09:24 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:09:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:09:24 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:09:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:09:25 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.584s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:09:25 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.391[m] 100.283[deg]	[grasp_sample.py: 539]
+05/11 14:09:25 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:09:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:09:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:09:26 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:09:30 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:09:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:09:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:09:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:09:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:09:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.063s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:09:42 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:09:42 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.647[deg]	[grasp_sample.py: 539]
+05/11 14:09:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:09:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:09:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:09:45 INFO: [Worker 0] Worker 0 house 1 episode 7 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:09:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:09 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:10:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:10:09 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:10:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:10:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:10:23 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:10:23 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:10:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:10:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:10:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.33s (batch: 5.35s, save: 9.99s)	[pipeline.py: 300]
+05/11 14:10:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=0.59s:
+  episode_total: mean=180.53s, total=180.53s, count=1, min=180533.0ms, max=180533.0ms
+  sensor_polling: mean=396.9ms, total=119.07s, count=300, min=304.3ms, max=763.8ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9985.8ms, max=9985.8ms
+  physics_step: mean=23.2ms, total=6.96s, count=300, min=14.0ms, max=33.0ms
+  save_batch_prep: mean=5.35s, total=5.35s, count=1, min=5348.5ms, max=5348.5ms
+  task_sampling: mean=587.2ms, total=587.2ms, count=1, min=587.2ms, max=587.2ms
+  task_specific_sample: mean=583.6ms, total=583.6ms, count=1, min=583.6ms, max=583.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=386.5us, 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]
+05/11 14:10:25 INFO: [Worker 0] Feasibility-checked 74 grasps in 1.674s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:10:25 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.028[m] 4.057[deg]	[grasp_sample.py: 539]
+05/11 14:10:26 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:10:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:10:26 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:10:26 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:10:26 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:10:26 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:10:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:10:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.069895m	[env.py: 870]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:10:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.09077188  1.01893804  0.06989516] yaw=-137.9deg	[env.py: 1019]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.96900085  0.7820213   0.06989516] yaw=-159.1deg	[env.py: 1019]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.1943907   1.06379262  0.06989516] yaw=-137.9deg	[env.py: 1019]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:10:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=102.5ms, total=102.6ms	[env.py: 1075]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.091, 1.019, 0.070)	[env.py: 1079]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -137.9 deg	[env.py: 1082]
+05/11 14:10:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m	[env.py: 1086]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:10:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:10:27 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:10:27 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:10:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:10:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:10:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:10:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:10:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.756s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:10:28 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.418[m] 93.325[deg]	[grasp_sample.py: 539]
+05/11 14:10:28 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:10:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:10:28 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:10:28 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:10:28 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:10:28 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:10:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:10:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013891m	[env.py: 870]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:10:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94135426  0.23408858  0.01389058] yaw=154.5deg	[env.py: 1019]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 100.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.75090471  0.37606218  0.01389058] yaw=176.6deg	[env.py: 1019]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.11277187  0.9814041   0.01389058] yaw=-143.3deg	[env.py: 1019]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:10:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=315.0ms, total=315.0ms	[env.py: 1075]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.941, 0.234, 0.014)	[env.py: 1079]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 154.5 deg	[env.py: 1082]
+05/11 14:10:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m	[env.py: 1086]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:10:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:10:28 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:10:28 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:28 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:10:28 INFO: [Worker 0] Worker 0 house 1 episode 8/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:10:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:10:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:10:28 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:10:28 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:10:29 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.414s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:10:29 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.326[m] 86.170[deg]	[grasp_sample.py: 539]
+05/11 14:10:29 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:10:29 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:10:29 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:10:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:10:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:10:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:10:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:10:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:10:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.599s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:10:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.874[deg]	[grasp_sample.py: 539]
+05/11 14:10:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:10:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:10:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:57 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:10:59 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:11:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:02 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:06 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:11:09 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:11:10 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:11 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:11:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:15 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:24 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:11:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:11:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:11:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:11:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:11:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.86s (batch: 5.29s, save: 8.57s)	[pipeline.py: 300]
+05/11 14:11:39 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=0.42s:
+  episode_total: mean=180.67s, total=180.67s, count=1, min=180671.7ms, max=180671.7ms
+  sensor_polling: mean=404.4ms, total=121.31s, count=300, min=311.0ms, max=753.8ms
+  save_trajectories: mean=8.57s, total=8.57s, count=1, min=8571.4ms, max=8571.4ms
+  physics_step: mean=23.5ms, total=7.04s, count=300, min=14.2ms, max=57.3ms
+  save_batch_prep: mean=5.29s, total=5.29s, count=1, min=5287.7ms, max=5287.7ms
+  task_sampling: mean=419.9ms, total=419.9ms, count=1, min=419.9ms, max=419.9ms
+  task_specific_sample: mean=415.2ms, total=415.2ms, count=1, min=415.2ms, max=415.2ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=395.1us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=35.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:11:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:11:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:11:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:11:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:11:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:11:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:11:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.070m, effective arm-mount z=0.930m (base_body_z=0.070m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.070040m	[env.py: 870]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:11:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 109.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.99895094  1.28748343  0.07004006] yaw=-129.3deg	[env.py: 1019]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-1.200811    1.11363262  0.07004006] yaw=-131.8deg	[env.py: 1019]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:11:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=562.9ms, total=563.0ms	[env.py: 1075]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.999, 1.287, 0.070)	[env.py: 1079]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -129.3 deg	[env.py: 1082]
+05/11 14:11:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.069m	[env.py: 1086]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:11:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:11:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:11:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:11:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:11:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:11:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:11:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.086s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:11:43 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.560s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 14:11:43 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 14:11:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:11:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:11:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:11:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:11:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:11:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:11:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.005875m	[env.py: 870]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:11:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.84028099  0.16596324  0.00587512] yaw=170.1deg	[env.py: 1019]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.8516882   0.46237784  0.00587512] yaw=181.8deg	[env.py: 1019]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -46.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90081767  1.21116806  0.00587512] yaw=-143.7deg	[env.py: 1019]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:11:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=170.7ms, total=170.8ms	[env.py: 1075]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.840, 0.166, 0.006)	[env.py: 1079]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.1 deg	[env.py: 1082]
+05/11 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m	[env.py: 1086]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:11:46 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:11:46 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:11:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.051s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:11:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:11:46 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:11:46 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:11:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.487s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:11:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.511[m] 95.558[deg]	[grasp_sample.py: 539]
+05/11 14:11:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:11:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:11:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:11:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:11:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:11:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:11:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:11:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:11:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:11:55 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.437s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:11:55 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.527[deg]	[grasp_sample.py: 539]
+05/11 14:11:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:11:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:11:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:11:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:06 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:12:09 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:12:20 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:30 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:12:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:12:30 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:12:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:35 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:12:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:12:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:12:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:12:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:12:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.061s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:12:38 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:12:38 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.320[deg]	[grasp_sample.py: 539]
+05/11 14:12:39 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:39 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:12:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:12:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:12:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.052m, effective arm-mount z=0.912m (base_body_z=0.052m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.051880m	[env.py: 870]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 108.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.89027151  0.58544032  0.05188004] yaw=-180.4deg	[env.py: 1019]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 84.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.95542598  0.7278497   0.05188004] yaw=-162.3deg	[env.py: 1019]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=208.1ms, total=208.2ms	[env.py: 1075]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.585, 0.052)	[env.py: 1079]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -180.4 deg	[env.py: 1082]
+05/11 14:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m	[env.py: 1086]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:12:42 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:12:42 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:12:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:12:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:12:42 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:12:42 INFO: [Worker 0] Collision-checked 230 grasps in 0.103s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:12:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.684s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:12:42 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.395[m] 95.597[deg]	[grasp_sample.py: 539]
+05/11 14:12:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:12:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:12:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:12:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.24s (batch: 3.60s, save: 9.64s)	[pipeline.py: 300]
+05/11 14:12:43 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:12:43 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:12:43 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.56s:
+  episode_total: mean=199.66s, total=199.66s, count=1, min=199658.5ms, max=199658.5ms
+  sensor_polling: mean=407.1ms, total=122.12s, count=300, min=308.8ms, max=689.9ms
+  save_trajectories: mean=9.64s, total=9.64s, count=1, min=9638.2ms, max=9638.2ms
+  physics_step: mean=22.7ms, total=6.80s, count=300, min=13.6ms, max=30.0ms
+  save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3597.4ms, max=3597.4ms
+  task_sampling: mean=555.0ms, total=555.0ms, count=1, min=555.0ms, max=555.0ms
+  task_specific_sample: mean=550.8ms, total=550.8ms, count=1, min=550.8ms, max=550.8ms
+  scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  mj_forward_sync: mean=497.5us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=22.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:12:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:12:45 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:12:45 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:12:45 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:12:45 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:12:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:12:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.002m, effective arm-mount z=0.862m (base_body_z=0.002m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.002174m	[env.py: 870]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:12:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.71877791  0.48108865  0.00217435] yaw=185.0deg	[env.py: 1019]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.7925575   0.30871378  0.00217435] yaw=179.4deg	[env.py: 1019]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.84778172  1.04416695  0.00217435] yaw=-151.7deg	[env.py: 1019]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:12:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=103.0ms, total=103.1ms	[env.py: 1075]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.719, 0.481, 0.002)	[env.py: 1079]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 185.0 deg	[env.py: 1082]
+05/11 14:12:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m	[env.py: 1086]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:12:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:12:45 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:12:45 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:12:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.079s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:12:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:12:45 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:12:45 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:12:46 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.606s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:12:46 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.556[m] 91.687[deg]	[grasp_sample.py: 539]
+05/11 14:12:46 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:12:46 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:12:46 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:12:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:12:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:13:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:13:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:13:07 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:13:07 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 70 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:13:10 INFO: [Worker 0] Feasibility-checked 70 grasps in 3.058s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:13:10 INFO: [Worker 0] Feasible grasp found 23 (originally 23): w/ 0.050[m] 8.153[deg]	[grasp_sample.py: 539]
+05/11 14:13:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:13:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:13:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:22 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:13:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:13:26 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:27 INFO: [Worker 0] Worker 0 house 1 episode 8 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:13:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:13:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:51 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:13:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:13:51 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:13:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:14:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:14:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:14:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:14:01 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:14:01 INFO: [Worker 0] Collision-checked 230 grasps in 0.084s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:14:01 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.422s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:14:01 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.482[deg]	[grasp_sample.py: 539]
+05/11 14:14:01 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:14:02 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:14:02 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:14:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:14:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:14:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.85s (batch: 4.41s, save: 10.44s)	[pipeline.py: 300]
+05/11 14:14:06 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.02s:
+  episode_total: mean=157.54s, total=315.07s, count=2, min=96443.3ms, max=218630.3ms
+  sensor_polling: mean=411.3ms, total=196.58s, count=478, min=312.1ms, max=763.3ms
+  physics_step: mean=22.9ms, total=10.94s, count=478, min=11.8ms, max=50.3ms
+  save_trajectories: mean=10.44s, total=10.44s, count=1, min=10435.0ms, max=10435.0ms
+  save_batch_prep: mean=4.41s, total=4.41s, count=1, min=4411.7ms, max=4411.7ms
+  task_sampling: mean=509.1ms, total=1.02s, count=2, min=429.8ms, max=588.4ms
+  task_specific_sample: mean=505.9ms, total=1.01s, count=2, min=426.5ms, max=585.2ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.5ms, max=2.1ms
+  mj_forward_sync: mean=389.5us, total=0.8ms, count=2, min=0.4ms, max=0.4ms
+  policy_setup: mean=20.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:14:07 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:14:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:14:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:14:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.065m, effective arm-mount z=0.925m (base_body_z=0.065m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.064898m	[env.py: 870]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.76949443  0.7600293   0.06489772] yaw=-158.5deg	[env.py: 1019]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.86631632  0.33401341  0.06489772] yaw=178.7deg	[env.py: 1019]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93344303  0.77905953  0.06489772] yaw=-169.8deg	[env.py: 1019]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=189.0ms, total=189.0ms	[env.py: 1075]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.769, 0.760, 0.065)	[env.py: 1079]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -158.5 deg	[env.py: 1082]
+05/11 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m	[env.py: 1086]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:14:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:14:08 INFO: [Worker 0] Worker 0 house 1 episode 9/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:14:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.090s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:14:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:14:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:14:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:14:09 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.665s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:14:09 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.565[m] 97.848[deg]	[grasp_sample.py: 539]
+05/11 14:14:09 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:14:09 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:14:09 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:14:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:14:11 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:14:36 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:14:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:14:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:14:49 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:14:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:14:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:14:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.17s (batch: 4.97s, save: 10.20s)	[pipeline.py: 300]
+05/11 14:14:51 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.26s:
+  episode_total: mean=94.44s, total=188.88s, count=2, min=2607.8ms, max=186270.4ms
+  sensor_polling: mean=380.5ms, total=114.14s, count=300, min=295.9ms, max=751.8ms
+  save_trajectories: mean=10.20s, total=10.20s, count=1, min=10197.2ms, max=10197.2ms
+  physics_step: mean=23.3ms, total=7.00s, count=300, min=17.0ms, max=37.6ms
+  save_batch_prep: mean=4.97s, total=4.97s, count=1, min=4974.7ms, max=4974.7ms
+  task_sampling: mean=630.9ms, total=1.26s, count=2, min=400.6ms, max=861.1ms
+  task_specific_sample: mean=626.9ms, total=1.25s, count=2, min=396.5ms, max=857.4ms
+  scene_randomize: mean=1.8ms, total=3.6ms, count=2, min=1.3ms, max=2.3ms
+  mj_forward_sync: mean=492.5us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:14:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:14:53 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:14:53 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:14:53 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:14:53 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:14:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:14:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.091m, effective arm-mount z=0.951m (base_body_z=0.091m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.091249m	[env.py: 870]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:14:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70665019  0.62458067  0.09124896] yaw=-176.4deg	[env.py: 1019]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.65022363  0.52542281  0.09124896] yaw=-178.8deg	[env.py: 1019]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.75188556  1.02044916  0.09124896] yaw=-142.7deg	[env.py: 1019]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:14:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=124.7ms, total=124.7ms	[env.py: 1075]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.625, 0.091)	[env.py: 1079]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -176.4 deg	[env.py: 1082]
+05/11 14:14:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:14:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:14:54 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:14:54 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:14:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:14:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:14:54 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:14:54 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:14:54 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:14:55 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:14:55 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.574[m] 93.797[deg]	[grasp_sample.py: 539]
+05/11 14:14:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:14:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:14:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:14:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:14:58 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:15:07 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:15:11 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:15:15 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:15:15 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:15:15 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:15:16 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:15:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:15:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:15:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:15:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:15:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.88s (batch: 4.27s, save: 10.62s)	[pipeline.py: 300]
+05/11 14:15:32 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.34s:
+  episode_total: mean=166.80s, total=166.80s, count=1, min=166802.3ms, max=166802.3ms
+  sensor_polling: mean=394.4ms, total=118.32s, count=300, min=302.5ms, max=689.6ms
+  save_trajectories: mean=10.62s, total=10.62s, count=1, min=10617.6ms, max=10617.6ms
+  physics_step: mean=23.2ms, total=6.95s, count=300, min=14.2ms, max=37.5ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4265.6ms, max=4265.6ms
+  task_sampling: mean=338.4ms, total=338.4ms, count=1, min=338.4ms, max=338.4ms
+  task_specific_sample: mean=334.7ms, total=334.7ms, count=1, min=334.7ms, max=334.7ms
+  scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms
+  mj_forward_sync: mean=577.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=17.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:15:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:15:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:15:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.80s (batch: 5.78s, save: 11.02s)	[pipeline.py: 300]
+05/11 14:15:33 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.87s:
+  episode_total: mean=152.31s, total=304.62s, count=2, min=132759.2ms, max=171864.1ms
+  sensor_polling: mean=384.2ms, total=226.26s, count=589, min=292.4ms, max=775.9ms
+  physics_step: mean=21.5ms, total=12.66s, count=589, min=15.0ms, max=67.9ms
+  save_trajectories: mean=11.02s, total=11.02s, count=1, min=11021.8ms, max=11021.8ms
+  save_batch_prep: mean=5.78s, total=5.78s, count=1, min=5781.8ms, max=5781.8ms
+  task_sampling: mean=436.2ms, total=872.4ms, count=2, min=385.0ms, max=487.5ms
+  task_specific_sample: mean=431.0ms, total=862.0ms, count=2, min=379.3ms, max=482.7ms
+  scene_randomize: mean=2.9ms, total=5.7ms, count=2, min=1.5ms, max=4.2ms
+  mj_forward_sync: mean=367.6us, total=0.7ms, count=2, min=0.3ms, max=0.4ms
+  policy_setup: mean=17.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:15:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:15:33 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:15:33 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:15:33 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:15:33 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:15:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:15:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039464m	[env.py: 870]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:15:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.90870604  0.3137913   0.03946359] yaw=164.6deg	[env.py: 1019]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.08548606  1.0280426   0.03946359] yaw=-143.4deg	[env.py: 1019]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.82850103  1.04274102  0.03946359] yaw=-149.8deg	[env.py: 1019]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:15:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.3ms, total=109.3ms	[env.py: 1075]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.909, 0.314, 0.039)	[env.py: 1079]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 164.6 deg	[env.py: 1082]
+05/11 14:15:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m	[env.py: 1086]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:15:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:15:34 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:15:34 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:15:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:15:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:15:34 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:15:34 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:15:34 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.561s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:15:34 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.369[m] 94.200[deg]	[grasp_sample.py: 539]
+05/11 14:15:34 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:15:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:15:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:15:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:15:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:15:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:15:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:15:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.038m, effective arm-mount z=0.898m (base_body_z=0.038m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037825m	[env.py: 870]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:15:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.72917306  0.99309699  0.03782545] yaw=-156.6deg	[env.py: 1019]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.73745427  0.85709193  0.03782545] yaw=-168.4deg	[env.py: 1019]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.05067414  1.05269859  0.03782545] yaw=-136.7deg	[env.py: 1019]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:15:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.9ms, total=159.0ms	[env.py: 1075]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.729, 0.993, 0.038)	[env.py: 1079]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -156.6 deg	[env.py: 1082]
+05/11 14:15:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m	[env.py: 1086]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:15:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:15:35 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:15:35 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:15:35 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:15:35 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:15:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:15:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:15:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:15:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:15:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:15:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 5.899s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:15:41 INFO: [Worker 0] Feasible grasp found 213 (originally 98): w/ 0.651[m] 76.151[deg]	[grasp_sample.py: 539]
+05/11 14:15:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:15:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:15:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:15:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:15:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:15:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:16:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:16:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:16:19 INFO: [Worker 0] Worker 0 house 1 episode 9 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:16:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:16:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:16:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:16:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:16:42 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:16:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:16:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:16:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:16:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.15s (batch: 4.17s, save: 9.99s)	[pipeline.py: 300]
+05/11 14:16:57 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=0.46s:
+  episode_total: mean=169.63s, total=169.63s, count=1, min=169630.0ms, max=169630.0ms
+  sensor_polling: mean=402.5ms, total=120.74s, count=300, min=309.6ms, max=734.8ms
+  save_trajectories: mean=9.99s, total=9.99s, count=1, min=9986.0ms, max=9986.0ms
+  physics_step: mean=21.7ms, total=6.51s, count=300, min=16.8ms, max=30.1ms
+  save_batch_prep: mean=4.17s, total=4.17s, count=1, min=4167.3ms, max=4167.3ms
+  task_sampling: mean=459.4ms, total=459.4ms, count=1, min=459.4ms, max=459.4ms
+  task_specific_sample: mean=455.0ms, total=455.0ms, count=1, min=455.0ms, max=455.0ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=563.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=36.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:16:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:16:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:16:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:16:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:16:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:16:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:16:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:16:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.060m, effective arm-mount z=0.920m (base_body_z=0.060m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.060259m	[env.py: 870]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:16:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 117.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.13297553  1.00170802  0.06025888] yaw=-142.8deg	[env.py: 1019]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 105.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.80913874  0.34622084  0.06025888] yaw=167.8deg	[env.py: 1019]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.87425813  0.61519288  0.06025888] yaw=-173.2deg	[env.py: 1019]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:16:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=260.9ms, total=261.0ms	[env.py: 1075]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.133, 1.002, 0.060)	[env.py: 1079]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -142.8 deg	[env.py: 1082]
+05/11 14:16:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.771m	[env.py: 1086]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:16:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:16:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:16:59 INFO: [Worker 0] Worker 0 house 1 episode 10/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:16:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.077s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:16:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:16:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.087s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:17:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.891s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:17:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.343[m] 88.785[deg]	[grasp_sample.py: 539]
+05/11 14:17:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:17:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:01 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:17:01 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:02 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:17:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:17:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:17:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:17:09 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:17:09 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:17:09 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.430s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:17:09 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 1.041[deg]	[grasp_sample.py: 539]
+05/11 14:17:10 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:17:10 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:17:10 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:17:24 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:17:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:17:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:17:25 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:17:36 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:17:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:17:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:17:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.17s (batch: 4.33s, save: 9.83s)	[pipeline.py: 300]
+05/11 14:17:39 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.39s:
+  episode_total: mean=165.77s, total=165.77s, count=1, min=165774.1ms, max=165774.1ms
+  sensor_polling: mean=391.3ms, total=117.38s, count=300, min=306.5ms, max=735.1ms
+  save_trajectories: mean=9.83s, total=9.83s, count=1, min=9834.4ms, max=9834.4ms
+  physics_step: mean=24.2ms, total=7.26s, count=300, min=17.2ms, max=30.1ms
+  save_batch_prep: mean=4.33s, total=4.33s, count=1, min=4331.3ms, max=4331.3ms
+  task_sampling: mean=394.7ms, total=394.7ms, count=1, min=394.7ms, max=394.7ms
+  task_specific_sample: mean=390.4ms, total=390.4ms, count=1, min=390.4ms, max=390.4ms
+  scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms
+  mj_forward_sync: mean=580.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  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]
+05/11 14:17:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:17:40 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:17:40 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:17:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:17:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:17:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:17:40 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:17:40 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:17:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:17:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.083m, effective arm-mount z=0.943m (base_body_z=0.083m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.082613m	[env.py: 870]
+05/11 14:17:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:17:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.04274694  0.86391514  0.08261311] yaw=-151.2deg	[env.py: 1019]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.76672445  0.25616596  0.08261311] yaw=157.7deg	[env.py: 1019]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.05272201  1.00536929  0.08261311] yaw=-148.0deg	[env.py: 1019]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:17:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=122.9ms, total=122.9ms	[env.py: 1075]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.043, 0.864, 0.083)	[env.py: 1079]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -151.2 deg	[env.py: 1082]
+05/11 14:17:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.762m	[env.py: 1086]
+05/11 14:17:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:17:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:17:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:17:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:17:41 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:17:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:17:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:17:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:17:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.057s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:17:41 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.464s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:17:41 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.320[m] 92.963[deg]	[grasp_sample.py: 539]
+05/11 14:17:41 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:17:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:17:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:17:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:17:52 INFO: [Worker 0] Worker 0 house 1 episode 10 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:18:07 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:18:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:18:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:18:16 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:18:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:18:16 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:18:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:18:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:18:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:18:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 13.54s (batch: 4.88s, save: 8.65s)	[pipeline.py: 300]
+05/11 14:18:30 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.49s:
+  episode_total: mean=175.26s, total=175.26s, count=1, min=175256.4ms, max=175256.4ms
+  sensor_polling: mean=403.7ms, total=121.11s, count=300, min=301.2ms, max=841.2ms
+  save_trajectories: mean=8.65s, total=8.65s, count=1, min=8654.3ms, max=8654.3ms
+  physics_step: mean=22.4ms, total=6.73s, count=300, min=17.2ms, max=85.6ms
+  save_batch_prep: mean=4.88s, total=4.88s, count=1, min=4883.8ms, max=4883.8ms
+  task_sampling: mean=487.5ms, total=487.5ms, count=1, min=487.5ms, max=487.5ms
+  task_specific_sample: mean=483.6ms, total=483.6ms, count=1, min=483.6ms, max=483.6ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=519.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=13.7us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:18:31 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:18:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:18:31 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:18:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:18:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:18:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:18:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.019m, effective arm-mount z=0.879m (base_body_z=0.019m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.018782m	[env.py: 870]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -65.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.85445444  0.06667821  0.01878171] yaw=147.6deg	[env.py: 1019]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.68456262  0.31113043  0.01878171] yaw=171.6deg	[env.py: 1019]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.8234676   0.29622192  0.01878171] yaw=172.3deg	[env.py: 1019]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=113.6ms, total=113.7ms	[env.py: 1075]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.854, 0.067, 0.019)	[env.py: 1079]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 147.6 deg	[env.py: 1082]
+05/11 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m	[env.py: 1086]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:18:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:18:32 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:18:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:18:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:18:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:18:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:18:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.042s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:18:33 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.503[m] 88.583[deg]	[grasp_sample.py: 539]
+05/11 14:18:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:18:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:18:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:18:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:18:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:18:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:18:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.74s (batch: 5.30s, save: 9.44s)	[pipeline.py: 300]
+05/11 14:18:47 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.67s:
+  episode_total: mean=193.78s, total=193.78s, count=1, min=193776.2ms, max=193776.2ms
+  sensor_polling: mean=413.1ms, total=123.94s, count=300, min=306.1ms, max=676.9ms
+  save_trajectories: mean=9.44s, total=9.44s, count=1, min=9438.6ms, max=9438.6ms
+  physics_step: mean=23.9ms, total=7.17s, count=300, min=16.5ms, max=50.8ms
+  save_batch_prep: mean=5.30s, total=5.30s, count=1, min=5299.8ms, max=5299.8ms
+  task_sampling: mean=673.7ms, total=673.7ms, count=1, min=673.7ms, max=673.7ms
+  task_specific_sample: mean=670.0ms, total=670.0ms, count=1, min=670.0ms, max=670.0ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=421.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:18:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:18:49 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:18:49 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:18:49 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:18:49 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:18:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:18:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.029m, effective arm-mount z=0.889m (base_body_z=0.029m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.028894m	[env.py: 870]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:18:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.76301264  0.18700818  0.02889406] yaw=173.0deg	[env.py: 1019]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.88016014  0.17624352  0.02889406] yaw=170.8deg	[env.py: 1019]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.96634786  0.23453931  0.02889406] yaw=161.8deg	[env.py: 1019]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:18:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.0ms, total=216.1ms	[env.py: 1075]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.763, 0.187, 0.029)	[env.py: 1079]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 173.0 deg	[env.py: 1082]
+05/11 14:18:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m	[env.py: 1086]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:18:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:18:49 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:18:49 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:18:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:18:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:18:49 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:18:49 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:18:50 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.677s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:18:50 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.596[m] 99.100[deg]	[grasp_sample.py: 539]
+05/11 14:18:50 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:18:51 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:18:51 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:18:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:18:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:18:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:19:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:19:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:19:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:19:10 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:19:10 INFO: [Worker 0] Collision-checked 230 grasps in 0.075s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:19:11 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.463s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:19:11 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.339[deg]	[grasp_sample.py: 539]
+05/11 14:19:12 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:19:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:19:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:19:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.040m, effective arm-mount z=0.900m (base_body_z=0.040m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.040042m	[env.py: 870]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.97199938  1.29269347  0.04004161] yaw=-135.2deg	[env.py: 1019]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 109.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90516883  0.38064769  0.04004161] yaw=178.8deg	[env.py: 1019]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 119.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.00479177  0.17518989  0.04004161] yaw=161.5deg	[env.py: 1019]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.7ms, total=128.8ms	[env.py: 1075]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.972, 1.293, 0.040)	[env.py: 1079]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -135.2 deg	[env.py: 1082]
+05/11 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m	[env.py: 1086]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:19:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:19:15 INFO: [Worker 0] Worker 0 house 1 episode 11/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:19:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:19:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:19:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:19:16 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:19:17 INFO: [Worker 0] Feasibility-checked 88 grasps in 1.861s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 14:19:17 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 14:19:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:19:18 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:19:18 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:19:18 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:19:18 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:19:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:19:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.054m, effective arm-mount z=0.914m (base_body_z=0.054m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.054429m	[env.py: 870]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:19:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 104.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -168.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.70737012  0.57928998  0.05442936] yaw=-170.2deg	[env.py: 1019]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.92129871  1.24847382  0.05442936] yaw=-146.9deg	[env.py: 1019]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.90412723  1.10966326  0.05442936] yaw=-147.6deg	[env.py: 1019]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:19:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.1ms, total=164.1ms	[env.py: 1075]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.707, 0.579, 0.054)	[env.py: 1079]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -170.2 deg	[env.py: 1082]
+05/11 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m	[env.py: 1086]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:19:19 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:19:19 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:19:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:19:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:19:19 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:19:19 INFO: [Worker 0] Collision-checked 230 grasps in 0.058s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:19:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.669s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:19:19 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.578[m] 98.436[deg]	[grasp_sample.py: 539]
+05/11 14:19:19 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:19:20 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:19:20 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:19:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:19:25 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:19:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:19:38 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:19:49 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:19:58 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:20:00 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:20:00 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:20:00 INFO: [Worker 0] Preparing episode data: 287 timesteps	[save_utils.py: 278]
+05/11 14:20:03 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:20:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:20:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.67s (batch: 4.14s, save: 10.53s)	[pipeline.py: 300]
+05/11 14:20:16 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.34s:
+  episode_total: mean=155.27s, total=155.27s, count=1, min=155265.4ms, max=155265.4ms
+  sensor_polling: mean=377.1ms, total=107.86s, count=286, min=304.6ms, max=750.8ms
+  save_trajectories: mean=10.53s, total=10.53s, count=1, min=10531.0ms, max=10531.0ms
+  physics_step: mean=23.1ms, total=6.60s, count=286, min=13.3ms, max=34.1ms
+  save_batch_prep: mean=4.14s, total=4.14s, count=1, min=4138.7ms, max=4138.7ms
+  task_sampling: mean=337.9ms, total=337.9ms, count=1, min=337.9ms, max=337.9ms
+  task_specific_sample: mean=334.5ms, total=334.5ms, count=1, min=334.5ms, max=334.5ms
+  scene_randomize: mean=2.1ms, total=2.1ms, count=1, min=2.1ms, max=2.1ms
+  mj_forward_sync: mean=336.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms
+  policy_setup: mean=17.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:20:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:17 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:20:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:20:17 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:20:17 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:20:17 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:20:17 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:20:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:20:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.039m, effective arm-mount z=0.899m (base_body_z=0.039m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.039254m	[env.py: 870]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:20:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 109.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.72654851  0.36921872  0.03925394] yaw=179.4deg	[env.py: 1019]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.86614186  0.05000627  0.03925394] yaw=148.7deg	[env.py: 1019]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-1.11530776  0.98563295  0.03925394] yaw=-141.4deg	[env.py: 1019]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:20:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=105.0ms, total=105.0ms	[env.py: 1075]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.727, 0.369, 0.039)	[env.py: 1079]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 179.4 deg	[env.py: 1082]
+05/11 14:20:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.982m	[env.py: 1086]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:20:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:20:18 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:20:18 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:20:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:20:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:20:18 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:20:18 INFO: [Worker 0] Collision-checked 230 grasps in 0.078s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:20:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:18 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.627s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:20:18 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.575[m] 96.200[deg]	[grasp_sample.py: 539]
+05/11 14:20:18 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:20:19 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:20:19 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:20:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:20:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:20:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:20:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:20:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:20:27 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:20:27 INFO: [Worker 0] Collision-checked 230 grasps in 0.110s, found 86 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:20:30 INFO: [Worker 0] Feasibility-checked 86 grasps in 3.021s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:20:30 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.121[m] 2.069[deg]	[grasp_sample.py: 539]
+05/11 14:20:30 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:20:31 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:20:31 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:20:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:20:49 INFO: [Worker 0] Worker 0 house 1 episode 11 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:20:51 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:20:54 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:21:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:21:14 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:21:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:21:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:21:18 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:21:19 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:21:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:21:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:21:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:21:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.97s (batch: 4.10s, save: 10.87s)	[pipeline.py: 300]
+05/11 14:21:30 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=True episode_total=0.41s:
+  episode_total: mean=179.03s, total=179.03s, count=1, min=179032.2ms, max=179032.2ms
+  sensor_polling: mean=416.7ms, total=125.02s, count=300, min=318.9ms, max=792.2ms
+  save_trajectories: mean=10.87s, total=10.87s, count=1, min=10869.9ms, max=10869.9ms
+  physics_step: mean=25.4ms, total=7.62s, count=300, min=13.2ms, max=33.6ms
+  save_batch_prep: mean=4.10s, total=4.10s, count=1, min=4095.7ms, max=4095.7ms
+  task_sampling: mean=409.5ms, total=409.5ms, count=1, min=409.5ms, max=409.5ms
+  task_specific_sample: mean=405.5ms, total=405.5ms, count=1, min=405.5ms, max=405.5ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=572.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:21:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:21:32 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:21:32 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:21:32 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:21:32 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:21:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:21:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080595m	[env.py: 870]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:21:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.92458308  0.5775016   0.08059524] yaw=-168.4deg	[env.py: 1019]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.94180423  0.29921327  0.08059524] yaw=173.4deg	[env.py: 1019]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 75.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.6305017   0.59274544  0.08059524] yaw=-179.6deg	[env.py: 1019]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:21:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=104.6ms, total=104.7ms	[env.py: 1075]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.925, 0.578, 0.081)	[env.py: 1079]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -168.4 deg	[env.py: 1082]
+05/11 14:21:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.784m	[env.py: 1086]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:21:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:21:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:21:32 INFO: [Worker 0] Worker 0 house 1 episode 12/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:21:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:21:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:21:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:21:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:21:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.531s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:21:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.338[m] 83.299[deg]	[grasp_sample.py: 539]
+05/11 14:21:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:21:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:21:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:21:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:21:45 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:21:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:21:45 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:21:53 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:22:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:22:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:22:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 16.30s (batch: 5.38s, save: 10.92s)	[pipeline.py: 300]
+05/11 14:22:01 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:02 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.58s:
+  episode_total: mean=193.07s, total=193.07s, count=1, min=193072.6ms, max=193072.6ms
+  sensor_polling: mean=458.6ms, total=137.59s, count=300, min=337.6ms, max=757.4ms
+  save_trajectories: mean=10.92s, total=10.92s, count=1, min=10921.3ms, max=10921.3ms
+  physics_step: mean=25.8ms, total=7.75s, count=300, min=13.9ms, max=62.9ms
+  save_batch_prep: mean=5.38s, total=5.38s, count=1, min=5377.2ms, max=5377.2ms
+  task_sampling: mean=584.2ms, total=584.2ms, count=1, min=584.2ms, max=584.2ms
+  task_specific_sample: mean=576.6ms, total=576.6ms, count=1, min=576.6ms, max=576.6ms
+  scene_randomize: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms
+  mj_forward_sync: mean=497.9us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=24.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:22:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:22:03 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:22:03 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:22:03 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:22:03 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:22:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:22:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.006m, effective arm-mount z=0.866m (base_body_z=0.006m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.006317m	[env.py: 870]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:22:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 117.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98215851  0.1357145   0.00631735] yaw=149.5deg	[env.py: 1019]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.96869035  0.2284989   0.00631735] yaw=163.1deg	[env.py: 1019]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.73018961  0.28584767  0.00631735] yaw=178.4deg	[env.py: 1019]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:22:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.2ms	[env.py: 1075]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.982, 0.136, 0.006)	[env.py: 1079]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 149.5 deg	[env.py: 1082]
+05/11 14:22:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.799m	[env.py: 1086]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:22:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:22:04 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:22:04 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:22:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:22:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:22:04 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:22:04 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:22:05 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.624s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:22:05 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.357[m] 91.538[deg]	[grasp_sample.py: 539]
+05/11 14:22:05 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:22:05 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:22:05 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:22:10 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:22:14 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:18 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:22:18 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:22:18 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:22:32 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:22:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:22:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:22:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.93s (batch: 4.21s, save: 10.72s)	[pipeline.py: 300]
+05/11 14:22:34 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.34s:
+  episode_total: mean=110.63s, total=331.90s, count=3, min=2401.9ms, max=195526.6ms
+  sensor_polling: mean=418.2ms, total=239.20s, count=572, min=298.9ms, max=779.4ms
+  physics_step: mean=23.5ms, total=13.47s, count=572, min=16.7ms, max=40.9ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10717.5ms, max=10717.5ms
+  save_batch_prep: mean=4.21s, total=4.21s, count=1, min=4212.1ms, max=4212.1ms
+  task_sampling: mean=446.8ms, total=1.34s, count=3, min=396.4ms, max=536.3ms
+  task_specific_sample: mean=442.9ms, total=1.33s, count=3, min=392.3ms, max=532.5ms
+  scene_randomize: mean=1.7ms, total=5.2ms, count=3, min=1.2ms, max=2.4ms
+  mj_forward_sync: mean=508.5us, total=1.5ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:22:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:22:35 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:22:35 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:22:35 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:22:35 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:22:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:22:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.027m, effective arm-mount z=0.887m (base_body_z=0.027m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.026766m	[env.py: 870]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:22:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88962285  0.21487763  0.02676579] yaw=160.6deg	[env.py: 1019]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.95390426  0.36552485  0.02676579] yaw=175.3deg	[env.py: 1019]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -36.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-1.12112881  1.03950469  0.02676579] yaw=-143.4deg	[env.py: 1019]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:22:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.6ms, total=158.6ms	[env.py: 1075]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.890, 0.215, 0.027)	[env.py: 1079]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 160.6 deg	[env.py: 1082]
+05/11 14:22:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m	[env.py: 1086]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:22:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:22:36 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:22:36 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:22:36 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:22:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:22:36 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:22:36 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:22:36 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.625s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:22:36 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.424[m] 89.124[deg]	[grasp_sample.py: 539]
+05/11 14:22:37 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:22:37 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:22:37 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:22:45 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:22:49 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:22:56 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:22:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:22:56 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:23:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:23:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:23:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.80s (batch: 4.08s, save: 10.72s)	[pipeline.py: 300]
+05/11 14:23:12 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.34s:
+  episode_total: mean=174.60s, total=174.60s, count=1, min=174595.7ms, max=174595.7ms
+  sensor_polling: mean=411.7ms, total=123.52s, count=300, min=314.1ms, max=737.7ms
+  save_trajectories: mean=10.72s, total=10.72s, count=1, min=10723.5ms, max=10723.5ms
+  physics_step: mean=23.9ms, total=7.16s, count=300, min=18.2ms, max=30.0ms
+  save_batch_prep: mean=4.08s, total=4.08s, count=1, min=4075.6ms, max=4075.6ms
+  task_sampling: mean=335.5ms, total=335.5ms, count=1, min=335.5ms, max=335.5ms
+  task_specific_sample: mean=331.9ms, total=331.9ms, count=1, min=331.9ms, max=331.9ms
+  scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  mj_forward_sync: mean=468.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=17.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:23:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:23:13 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:23:13 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:23:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:23:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:23:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:23:13 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:23:13 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:23:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:23:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.078m, effective arm-mount z=0.938m (base_body_z=0.078m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.077769m	[env.py: 870]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:23:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.86712611  1.04322013  0.07776875] yaw=-143.1deg	[env.py: 1019]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -69.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.77087137  1.04192482  0.07776875] yaw=-154.5deg	[env.py: 1019]
+05/11 14:23:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.71919175  0.02930135  0.07776875] yaw=151.6deg	[env.py: 1019]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:23:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=256.0ms, total=256.0ms	[env.py: 1075]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.867, 1.043, 0.078)	[env.py: 1079]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.1 deg	[env.py: 1082]
+05/11 14:23:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m	[env.py: 1086]
+05/11 14:23:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:23:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:23:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:23:14 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:23:14 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:23:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:23:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:23:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:23:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.115s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:23:15 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:23:16 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.291s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:23:16 INFO: [Worker 0] Feasible grasp found 203 (originally 88): w/ 0.616[m] 89.072[deg]	[grasp_sample.py: 539]
+05/11 14:23:16 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:23:17 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:23:17 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:23:24 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:23:29 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:23:35 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 14:23:35 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:23:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:23:35 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:23:35 INFO: [Worker 0] Collision-checked 230 grasps in 0.064s, found 80 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:23:35 INFO: [Worker 0] Feasibility-checked 80 grasps in 0.476s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:23:35 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.032[m] 0.103[deg]	[grasp_sample.py: 539]
+05/11 14:23:36 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:23:36 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:23:36 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:23:43 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:23:43 INFO: [Worker 0] Worker 0 house 1 episode 12 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:23:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:23:56 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:08 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:24:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:24:08 INFO: [Worker 0] Preparing episode data: 289 timesteps	[save_utils.py: 278]
+05/11 14:24:13 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:21 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:24:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:24:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:24:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.16s (batch: 4.07s, save: 11.10s)	[pipeline.py: 300]
+05/11 14:24:24 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=0.40s:
+  episode_total: mean=172.17s, total=172.17s, count=1, min=172171.0ms, max=172171.0ms
+  sensor_polling: mean=420.2ms, total=121.00s, count=288, min=314.6ms, max=858.8ms
+  save_trajectories: mean=11.10s, total=11.10s, count=1, min=11096.3ms, max=11096.3ms
+  physics_step: mean=24.3ms, total=6.99s, count=288, min=13.9ms, max=55.7ms
+  save_batch_prep: mean=4.07s, total=4.07s, count=1, min=4067.6ms, max=4067.6ms
+  task_sampling: mean=397.6ms, total=397.6ms, count=1, min=397.6ms, max=397.6ms
+  task_specific_sample: mean=393.7ms, total=393.7ms, count=1, min=393.7ms, max=393.7ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=540.3us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:24:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:25 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:24:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:24:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:24:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:24:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:24:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:24:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.074372m	[env.py: 870]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:24:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.77807204  0.95137038  0.07437228] yaw=-148.1deg	[env.py: 1019]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.8220223   0.69238327  0.07437228] yaw=-163.7deg	[env.py: 1019]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.73467147  0.20640522  0.07437228] yaw=170.8deg	[env.py: 1019]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:24:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.9ms, total=119.0ms	[env.py: 1075]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.778, 0.951, 0.074)	[env.py: 1079]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -148.1 deg	[env.py: 1082]
+05/11 14:24:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.037m	[env.py: 1086]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:24:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:24:26 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:24:26 INFO: [Worker 0] Worker 0 house 1 episode 13/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:24:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:24:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:24:26 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:24:26 INFO: [Worker 0] Collision-checked 230 grasps in 0.073s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:24:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:28 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.204s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:24:28 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.644[m] 94.776[deg]	[grasp_sample.py: 539]
+05/11 14:24:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:29 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:24:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:24:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:24:30 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:24:30 INFO: [Worker 0] Collision-checked 230 grasps in 0.071s, found 74 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:24:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:24:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:24:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:24:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:24:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:24:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:24:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.007m, effective arm-mount z=0.867m (base_body_z=0.007m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.007362m	[env.py: 870]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:24:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.80690296  0.32245418  0.00736185] yaw=169.1deg	[env.py: 1019]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.88141316  0.74146182  0.00736185] yaw=-164.3deg	[env.py: 1019]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.77866387  0.81444222  0.00736185] yaw=-151.4deg	[env.py: 1019]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:24:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=512.9ms, total=512.9ms	[env.py: 1075]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.807, 0.322, 0.007)	[env.py: 1079]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 169.1 deg	[env.py: 1082]
+05/11 14:24:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.910m	[env.py: 1086]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:24:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:24:31 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:24:31 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:24:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:24:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:24:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:24:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:24:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:32 INFO: [Worker 0] Feasibility-checked 74 grasps in 2.018s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:24:32 INFO: [Worker 0] Feasible grasp found 75 (originally 75): w/ 0.027[m] 3.375[deg]	[grasp_sample.py: 539]
+05/11 14:24:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:24:32 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.643s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:24:32 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.443[m] 87.681[deg]	[grasp_sample.py: 539]
+05/11 14:24:32 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:24:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:24:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:24:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:24:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:24:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:24:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:24:38 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:24:38 INFO: [Worker 0] Collision-checked 230 grasps in 0.080s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:24:39 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.387s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:24:39 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.051[m] 0.710[deg]	[grasp_sample.py: 539]
+05/11 14:24:39 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:24:39 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:24:39 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:24:42 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:46 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:52 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:24:55 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:24:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:59 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:24:59 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:25:11 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:25:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000	[base_object_manipulation_planner_policy.py: 161]
+05/11 14:25:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:25:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:25:14 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:25:14 INFO: [Worker 0] Collision-checked 230 grasps in 0.093s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:25:15 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.489s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:25:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.115[m] 2.559[deg]	[grasp_sample.py: 539]
+05/11 14:25:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:25:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:25:15 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:25:15 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:25:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:25:17 INFO: [Worker 0] Worker 0 house 1 episode 13 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:25:19 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:25:23 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:25:24 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:25:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:25:24 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:25:26 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:25:33 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:25:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:25:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:25:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.38s (batch: 4.27s, save: 10.11s)	[pipeline.py: 300]
+05/11 14:25:39 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.68s:
+  episode_total: mean=215.77s, total=215.77s, count=1, min=215774.0ms, max=215774.0ms
+  sensor_polling: mean=439.5ms, total=131.85s, count=300, min=326.5ms, max=660.8ms
+  save_trajectories: mean=10.11s, total=10.11s, count=1, min=10113.5ms, max=10113.5ms
+  physics_step: mean=24.2ms, total=7.25s, count=300, min=17.3ms, max=34.7ms
+  save_batch_prep: mean=4.27s, total=4.27s, count=1, min=4265.3ms, max=4265.3ms
+  task_sampling: mean=677.9ms, total=677.9ms, count=1, min=677.9ms, max=677.9ms
+  task_specific_sample: mean=673.8ms, total=673.8ms, count=1, min=673.8ms, max=673.8ms
+  scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms
+  mj_forward_sync: mean=433.4us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:25:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:25:41 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:25:41 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:25:41 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:25:41 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:25:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:25:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.084780m	[env.py: 870]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:25:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.7720749   0.36098527  0.08477982] yaw=175.4deg	[env.py: 1019]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.97276203  1.21927517  0.08477982] yaw=-124.1deg	[env.py: 1019]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.79769476  1.05536459  0.08477982] yaw=-156.9deg	[env.py: 1019]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:25:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=89.2ms, total=89.3ms	[env.py: 1075]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.772, 0.361, 0.085)	[env.py: 1079]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 175.4 deg	[env.py: 1082]
+05/11 14:25:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.938m	[env.py: 1086]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:25:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:25:41 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:25:41 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:25:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:25:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:25:41 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:25:41 INFO: [Worker 0] Collision-checked 230 grasps in 0.074s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:25:41 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:25:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:25:41 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:25:42 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.631s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:25:42 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.464[m] 79.452[deg]	[grasp_sample.py: 539]
+05/11 14:25:42 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:25:42 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:25:42 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:25:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:25:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:25:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:25:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.08s (batch: 4.20s, save: 10.88s)	[pipeline.py: 300]
+05/11 14:25:57 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.48s:
+  episode_total: mean=201.81s, total=201.81s, count=1, min=201805.1ms, max=201805.1ms
+  sensor_polling: mean=436.8ms, total=131.03s, count=300, min=339.7ms, max=762.7ms
+  save_trajectories: mean=10.88s, total=10.88s, count=1, min=10879.6ms, max=10879.6ms
+  physics_step: mean=26.2ms, total=7.86s, count=300, min=14.2ms, max=32.9ms
+  save_batch_prep: mean=4.20s, total=4.20s, count=1, min=4201.8ms, max=4201.8ms
+  task_sampling: mean=476.3ms, total=476.3ms, count=1, min=476.3ms, max=476.3ms
+  task_specific_sample: mean=472.4ms, total=472.4ms, count=1, min=472.4ms, max=472.4ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=517.2us, total=0.5ms, count=1, min=0.5ms, max=0.5ms
+  policy_setup: mean=18.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:25:58 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:25:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:25:58 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:25:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:25:59 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:25:59 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:25:59 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:25:59 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:25:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:25:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.037m, effective arm-mount z=0.897m (base_body_z=0.037m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.037265m	[env.py: 870]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:25:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.98368664  0.79157693  0.03726492] yaw=-147.9deg	[env.py: 1019]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 59.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.62699097  0.58781079  0.03726492] yaw=-172.6deg	[env.py: 1019]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93900498  0.30230007  0.03726492] yaw=157.1deg	[env.py: 1019]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:25:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=189.4ms, total=189.4ms	[env.py: 1075]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.984, 0.792, 0.037)	[env.py: 1079]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.9 deg	[env.py: 1082]
+05/11 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.782m	[env.py: 1086]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:25:59 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:25:59 INFO: [Worker 0] Worker 0 house 1 episode 14/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:25:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:25:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:25:59 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:25:59 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:26:00 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.653s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:26:00 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.336[m] 85.464[deg]	[grasp_sample.py: 539]
+05/11 14:26:00 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:26:00 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:26:00 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:26:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:26:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.57s (batch: 4.43s, save: 11.14s)	[pipeline.py: 300]
+05/11 14:26:14 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.55s:
+  episode_total: mean=181.19s, total=181.19s, count=1, min=181188.0ms, max=181188.0ms
+  sensor_polling: mean=419.2ms, total=125.76s, count=300, min=317.9ms, max=708.9ms
+  save_trajectories: mean=11.14s, total=11.14s, count=1, min=11140.0ms, max=11140.0ms
+  physics_step: mean=25.0ms, total=7.49s, count=300, min=18.1ms, max=55.7ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4432.6ms, max=4432.6ms
+  task_sampling: mean=546.2ms, total=546.2ms, count=1, min=546.2ms, max=546.2ms
+  task_specific_sample: mean=541.5ms, total=541.5ms, count=1, min=541.5ms, max=541.5ms
+  scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms
+  mj_forward_sync: mean=596.0us, 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]
+05/11 14:26:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:26:16 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:26:16 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:26:16 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:26:16 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:26:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:26:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.088m, effective arm-mount z=0.948m (base_body_z=0.088m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.088196m	[env.py: 870]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:26:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.92941048  1.23577712  0.08819612] yaw=-143.9deg	[env.py: 1019]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.93667866  0.49202386  0.08819612] yaw=-182.6deg	[env.py: 1019]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.76485343  0.45783089  0.08819612] yaw=184.8deg	[env.py: 1019]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:26:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=145.1ms, total=145.2ms	[env.py: 1075]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.929, 1.236, 0.088)	[env.py: 1079]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -143.9 deg	[env.py: 1082]
+05/11 14:26:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.080m	[env.py: 1086]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:26:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:26:17 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:26:17 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:26:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:26:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:26:17 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:26:17 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:26:19 INFO: [Worker 0] Feasibility-checked 88 grasps in 2.016s, found feasible grasp: False	[grasp_sample.py: 500]
+05/11 14:26:19 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found	[pipeline.py: 1242]
+05/11 14:26:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:26:20 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:26:20 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:26:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:26:20 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:26:20 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:26:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:26:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.053m, effective arm-mount z=0.913m (base_body_z=0.053m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.052626m	[env.py: 870]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:26:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.8° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.20285692  1.0957516   0.05262551] yaw=-130.7deg	[env.py: 1019]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.85006402  0.43069611  0.05262551] yaw=179.3deg	[env.py: 1019]
+05/11 14:26:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.7024025   0.93891394  0.05262551] yaw=-145.2deg	[env.py: 1019]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:26:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=138.8ms, total=138.8ms	[env.py: 1075]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.203, 1.096, 0.053)	[env.py: 1079]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -130.7 deg	[env.py: 1082]
+05/11 14:26:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.791m	[env.py: 1086]
+05/11 14:26:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:26:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:26:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:26:21 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:26:21 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:26:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:26:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:26:21 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:26:21 INFO: [Worker 0] Collision-checked 230 grasps in 0.072s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:26:22 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.647s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:26:22 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.356[m] 78.239[deg]	[grasp_sample.py: 539]
+05/11 14:26:22 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:26:22 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:26:22 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:23 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:29 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:32 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:26:37 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:38 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:26:42 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:26:47 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:26:53 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:27:01 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:27:05 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:27:14 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:27:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:27:14 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:27:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:27:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:27:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.72s (batch: 3.97s, save: 11.75s)	[pipeline.py: 300]
+05/11 14:27:30 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=1.11s:
+  episode_total: mean=91.65s, total=183.31s, count=2, min=4054.5ms, max=179254.6ms
+  sensor_polling: mean=412.1ms, total=123.62s, count=300, min=302.1ms, max=796.6ms
+  save_trajectories: mean=11.75s, total=11.75s, count=1, min=11745.7ms, max=11745.7ms
+  physics_step: mean=26.6ms, total=7.99s, count=300, min=14.2ms, max=57.4ms
+  save_batch_prep: mean=3.97s, total=3.97s, count=1, min=3973.1ms, max=3973.1ms
+  task_sampling: mean=555.3ms, total=1.11s, count=2, min=402.2ms, max=708.4ms
+  task_specific_sample: mean=550.8ms, total=1.10s, count=2, min=398.1ms, max=703.6ms
+  scene_randomize: mean=2.2ms, total=4.4ms, count=2, min=1.8ms, max=2.6ms
+  mj_forward_sync: mean=450.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms
+  policy_setup: mean=18.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:27:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:27:31 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:27:31 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:27:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:27:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:27:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:27:31 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:27:31 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:27:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:27:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.074m, effective arm-mount z=0.934m (base_body_z=0.074m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.073531m	[env.py: 870]
+05/11 14:27:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:27:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 172.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.06385096  0.99325405  0.07353143] yaw=-147.2deg	[env.py: 1019]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.78584759  0.65457721  0.07353143] yaw=-172.7deg	[env.py: 1019]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.81067498  0.86685568  0.07353143] yaw=-163.4deg	[env.py: 1019]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:27:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=180.4ms, total=180.4ms	[env.py: 1075]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.064, 0.993, 0.074)	[env.py: 1079]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -147.2 deg	[env.py: 1082]
+05/11 14:27:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m	[env.py: 1086]
+05/11 14:27:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:27:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:27:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:27:32 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:27:32 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:27:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:27:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:27:32 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:27:32 INFO: [Worker 0] Collision-checked 230 grasps in 0.123s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:27:33 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.548s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:27:33 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.393[m] 86.748[deg]	[grasp_sample.py: 539]
+05/11 14:27:33 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:27:33 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:27:33 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:27:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:27:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:27:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:27:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:27:52 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:27:52 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:27:53 INFO: [Worker 0] Feasibility-checked 78 grasps in 0.524s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:27:53 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.052[m] 0.871[deg]	[grasp_sample.py: 539]
+05/11 14:27:53 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:27:53 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:27:53 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:27:59 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:08 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:28:08 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:12 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:16 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:28:16 INFO: [Worker 0] Worker 0 house 1 episode 14 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:28:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:17 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:28:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:28:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:28:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:28:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:28:20 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:28:20 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:28:21 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:22 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.026s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:28:22 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.334[deg]	[grasp_sample.py: 539]
+05/11 14:28:23 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:28:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:28:25 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:28:25 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:25 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:28:25 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:28:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:28:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.014m, effective arm-mount z=0.874m (base_body_z=0.014m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.013620m	[env.py: 870]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:28:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.80788963  0.36416055  0.01361974] yaw=170.2deg	[env.py: 1019]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 99.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-1.0448155   1.21616717  0.01361974] yaw=-129.2deg	[env.py: 1019]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.07875482  1.07861422  0.01361974] yaw=-138.9deg	[env.py: 1019]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:28:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=108.4ms, total=108.5ms	[env.py: 1075]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.808, 0.364, 0.014)	[env.py: 1079]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 170.2 deg	[env.py: 1082]
+05/11 14:28:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m	[env.py: 1086]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:25 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:28:25 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:28:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:28:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:28:25 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:28:25 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:28:26 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.535s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:28:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.464[m] 87.138[deg]	[grasp_sample.py: 539]
+05/11 14:28:26 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:28:26 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:28:26 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:28:39 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:28:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:28:39 INFO: [Worker 0] Preparing episode data: 290 timesteps	[save_utils.py: 278]
+05/11 14:28:40 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:28:40 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:28:40 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:28:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:28:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:28:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.25s (batch: 4.29s, save: 9.96s)	[pipeline.py: 300]
+05/11 14:28:53 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s:
+  episode_total: mean=174.67s, total=174.67s, count=1, min=174674.8ms, max=174674.8ms
+  sensor_polling: mean=436.6ms, total=126.18s, count=289, min=335.1ms, max=738.5ms
+  save_trajectories: mean=9.96s, total=9.96s, count=1, min=9956.2ms, max=9956.2ms
+  physics_step: mean=25.1ms, total=7.24s, count=289, min=14.2ms, max=53.6ms
+  save_batch_prep: mean=4.29s, total=4.29s, count=1, min=4290.3ms, max=4290.3ms
+  task_sampling: mean=469.7ms, total=469.7ms, count=1, min=469.7ms, max=469.7ms
+  task_specific_sample: mean=465.9ms, total=465.9ms, count=1, min=465.9ms, max=465.9ms
+  scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms
+  mj_forward_sync: mean=431.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=14.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:28:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:28:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:28:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.92s (batch: 4.13s, save: 10.79s)	[pipeline.py: 300]
+05/11 14:28:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:28:55 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:28:55 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:55 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:28:55 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:28:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:28:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.081m, effective arm-mount z=0.941m (base_body_z=0.081m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.080639m	[env.py: 870]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:28:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.77416929  0.71689667  0.08063874] yaw=-160.9deg	[env.py: 1019]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.76975229  0.96007705  0.08063874] yaw=-156.0deg	[env.py: 1019]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.2° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -54.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.70458407  0.08956468  0.08063874] yaw=151.2deg	[env.py: 1019]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:28:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.0ms, total=164.1ms	[env.py: 1075]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.774, 0.717, 0.081)	[env.py: 1079]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -160.9 deg	[env.py: 1082]
+05/11 14:28:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m	[env.py: 1086]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:28:55 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:28:55 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.38s:
+  episode_total: mean=194.72s, total=194.72s, count=1, min=194721.7ms, max=194721.7ms
+  sensor_polling: mean=439.3ms, total=131.78s, count=300, min=330.5ms, max=684.9ms
+  save_trajectories: mean=10.79s, total=10.79s, count=1, min=10790.3ms, max=10790.3ms
+  physics_step: mean=27.2ms, total=8.16s, count=300, min=18.2ms, max=60.4ms
+  save_batch_prep: mean=4.13s, total=4.13s, count=1, min=4130.3ms, max=4130.3ms
+  task_sampling: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms
+  task_specific_sample: mean=378.0ms, total=378.0ms, count=1, min=378.0ms, max=378.0ms
+  scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  mj_forward_sync: mean=615.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=21.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:28:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:28:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:28:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:28:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.065s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:28:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.671s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:28:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.492[m] 77.908[deg]	[grasp_sample.py: 539]
+05/11 14:28:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:28:57 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:28:57 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:28:57 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:28:57 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:57 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:28:57 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:28:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:28:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.004m, effective arm-mount z=0.864m (base_body_z=0.004m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.003845m	[env.py: 870]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:28:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.79058288  0.23503765  0.00384487] yaw=158.8deg	[env.py: 1019]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.98540473  0.81484528  0.00384487] yaw=-160.4deg	[env.py: 1019]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.90700389  0.56849109  0.00384487] yaw=-178.9deg	[env.py: 1019]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:28:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.3ms, total=197.4ms	[env.py: 1075]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.791, 0.235, 0.004)	[env.py: 1079]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 158.8 deg	[env.py: 1082]
+05/11 14:28:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m	[env.py: 1086]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:28:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:28:57 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:28:57 INFO: [Worker 0] Worker 0 house 1 episode 15/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:28:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.087s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:28:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:28:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:28:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.079s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:28:58 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.514s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:28:58 INFO: [Worker 0] Feasible grasp found 56 (originally 56): w/ 0.489[m] 87.019[deg]	[grasp_sample.py: 539]
+05/11 14:28:58 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:28:59 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:28:59 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:28:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:29:06 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:15 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:29:19 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:44 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:29:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:53 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:29:53 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:29:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:29:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:29:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:29:57 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:29:57 INFO: [Worker 0] Collision-checked 230 grasps in 0.116s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:29:57 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:29:59 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.690s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:29:59 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.107[m] 0.342[deg]	[grasp_sample.py: 539]
+05/11 14:30:00 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:30:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:30:02 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:30:02 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:30:02 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:30:02 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:30:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:30:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.031m, effective arm-mount z=0.891m (base_body_z=0.031m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.030877m	[env.py: 870]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:30:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.83708494  0.70104879  0.03087731] yaw=-171.5deg	[env.py: 1019]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 153.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 123.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-1.08997047  0.9978946   0.03087731] yaw=-140.7deg	[env.py: 1019]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.93454442  0.6292021   0.03087731] yaw=-178.8deg	[env.py: 1019]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:30:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.9ms, total=180.0ms	[env.py: 1075]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.837, 0.701, 0.031)	[env.py: 1079]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -171.5 deg	[env.py: 1082]
+05/11 14:30:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m	[env.py: 1086]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:30:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:30:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:30:02 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:30:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:30:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:30:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:30:03 INFO: [Worker 0] Collision-checked 230 grasps in 0.077s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:30:03 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.481s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:30:03 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.468[m] 88.721[deg]	[grasp_sample.py: 539]
+05/11 14:30:03 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:30:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:30:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:30:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:30:45 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:30:54 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:30:56 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:30:58 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:31:20 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:31:22 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:31:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 3/4: 1 episodes	[pipeline.py: 238]
+05/11 14:31:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:31:29 INFO: [Worker 0] Worker 0 house 1 episode 15 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:31:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:31:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:31:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 14.28s (batch: 3.92s, save: 10.35s)	[pipeline.py: 300]
+05/11 14:31:37 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=1.23s:
+  episode_total: mean=105.72s, total=317.15s, count=3, min=2684.1ms, max=191641.2ms
+  sensor_polling: mean=426.0ms, total=229.19s, count=538, min=306.4ms, max=825.3ms
+  physics_step: mean=24.1ms, total=12.96s, count=538, min=15.3ms, max=91.0ms
+  save_trajectories: mean=10.35s, total=10.35s, count=1, min=10354.6ms, max=10354.6ms
+  save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3920.8ms, max=3920.8ms
+  task_sampling: mean=410.7ms, total=1.23s, count=3, min=355.1ms, max=490.0ms
+  task_specific_sample: mean=406.9ms, total=1.22s, count=3, min=352.0ms, max=486.2ms
+  scene_randomize: mean=1.9ms, total=5.6ms, count=3, min=1.3ms, max=2.4ms
+  mj_forward_sync: mean=524.1us, total=1.6ms, count=3, min=0.4ms, max=0.6ms
+  policy_setup: mean=16.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:31:38 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:31:38 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:31:38 INFO: [Worker 0] Worker 0 completed house 1: 13/13 successful episodes	[pipeline.py: 1323]
+05/11 14:31:38 INFO: [Worker 0] [PROFILE] House 1 complete: 13/13 successful, 13 episodes, total_time=4673.16s
+  House averages:
+  episode_total: mean=144.86s, total=2607.50s, count=18, min=2496.8ms, max=241291.7ms
+  sensor_polling: mean=400.2ms, total=1753.48s, count=4381, min=295.8ms, max=825.3ms
+  save_trajectories: mean=9.81s, total=127.47s, count=13, min=8571.4ms, max=11140.0ms
+  physics_step: mean=23.7ms, total=103.80s, count=4381, min=11.7ms, max=91.0ms
+  save_batch_prep: mean=4.29s, total=55.83s, count=13, min=3618.0ms, max=5483.6ms
+  task_sampling: mean=598.5ms, total=10.77s, count=18, min=331.3ms, max=3311.2ms
+  task_specific_sample: mean=445.1ms, total=8.01s, count=18, min=326.5ms, max=857.4ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2684.8ms, max=2684.8ms
+  scene_env_create: mean=1.75s, total=1.75s, count=1, min=1752.9ms, max=1752.9ms
+  scene_compile: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  compile_mujoco: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms
+  compile_xml_load: mean=141.9ms, total=141.9ms, count=1, min=141.9ms, max=141.9ms
+  scene_asset_install: mean=86.9ms, total=86.9ms, count=1, min=86.9ms, max=86.9ms
+  scene_init: mean=81.1ms, total=81.1ms, count=1, min=81.1ms, max=81.1ms
+  asset_install_grasps: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_randomize: mean=2.2ms, total=39.8ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_objects: mean=22.1ms, total=22.1ms, count=1, min=22.1ms, max=22.1ms
+  mj_forward_sync: mean=463.4us, total=8.3ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=24.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 14:31:38 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 14:31:38 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 13 episodes, total_time=4673.16s
+  Worker averages:
+  episode_total: mean=144.86s, total=2607.50s, count=18, min=2496.8ms, max=241291.7ms
+  sensor_polling: mean=400.2ms, total=1753.48s, count=4381, min=295.8ms, max=825.3ms
+  save_trajectories: mean=9.81s, total=127.47s, count=13, min=8571.4ms, max=11140.0ms
+  physics_step: mean=23.7ms, total=103.80s, count=4381, min=11.7ms, max=91.0ms
+  save_batch_prep: mean=4.29s, total=55.83s, count=13, min=3618.0ms, max=5483.6ms
+  task_sampling: mean=598.5ms, total=10.77s, count=18, min=331.3ms, max=3311.2ms
+  task_specific_sample: mean=445.1ms, total=8.01s, count=18, min=326.5ms, max=857.4ms
+  scene_load: mean=2.68s, total=2.68s, count=1, min=2684.8ms, max=2684.8ms
+  scene_env_create: mean=1.75s, total=1.75s, count=1, min=1752.9ms, max=1752.9ms
+  scene_compile: mean=763.2ms, total=763.2ms, count=1, min=763.2ms, max=763.2ms
+  compile_mujoco: mean=562.9ms, total=562.9ms, count=1, min=562.9ms, max=562.9ms
+  compile_xml_load: mean=141.9ms, total=141.9ms, count=1, min=141.9ms, max=141.9ms
+  scene_asset_install: mean=86.9ms, total=86.9ms, count=1, min=86.9ms, max=86.9ms
+  scene_init: mean=81.1ms, total=81.1ms, count=1, min=81.1ms, max=81.1ms
+  asset_install_grasps: mean=59.1ms, total=59.1ms, count=1, min=59.1ms, max=59.1ms
+  compile_aux_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  compile_aux_policy_objects: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_randomize: mean=2.2ms, total=39.8ms, count=18, min=1.1ms, max=3.3ms
+  asset_install_objects: mean=22.1ms, total=22.1ms, count=1, min=22.1ms, max=22.1ms
+  mj_forward_sync: mean=463.4us, total=8.3ms, count=18, min=0.3ms, max=0.6ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=5.7ms, total=5.7ms, count=1, min=5.7ms, max=5.7ms
+  policy_setup: mean=24.1us, total=0.4ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 14:31:41 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 14:31:41 INFO: Success count: 13, Total count: 13	[pipeline.py: 1491]
+05/11 14:31:41 INFO: Success rate: 100.00%	[pipeline.py: 1492]
+05/11 14:31:44 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:31:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:31:44 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:31:53 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:31:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 1/4: 1 episodes	[pipeline.py: 238]
+05/11 14:31:53 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:31:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:31:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:31:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.50s (batch: 4.22s, save: 11.28s)	[pipeline.py: 300]
+05/11 14:32:00 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.46s:
+  episode_total: mean=185.05s, total=185.05s, count=1, min=185050.9ms, max=185050.9ms
+  sensor_polling: mean=445.2ms, total=133.57s, count=300, min=346.2ms, max=945.7ms
+  save_trajectories: mean=11.28s, total=11.28s, count=1, min=11276.7ms, max=11276.7ms
+  physics_step: mean=25.3ms, total=7.59s, count=300, min=18.4ms, max=57.3ms
+  save_batch_prep: mean=4.22s, total=4.22s, count=1, min=4221.8ms, max=4221.8ms
+  task_sampling: mean=458.8ms, total=458.8ms, count=1, min=458.8ms, max=458.8ms
+  task_specific_sample: mean=455.1ms, total=455.1ms, count=1, min=455.1ms, max=455.1ms
+  scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms
+  mj_forward_sync: mean=435.9us, 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]
+05/11 14:32:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:32:01 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:32:01 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:01 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:32:01 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:32:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:32:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.085m, effective arm-mount z=0.945m (base_body_z=0.085m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.085444m	[env.py: 870]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:32:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-1.16270822  1.01118059  0.08544449] yaw=-140.8deg	[env.py: 1019]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.9368102   0.76437368  0.08544449] yaw=-160.5deg	[env.py: 1019]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 158.5° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.90834132  0.69925275  0.08544449] yaw=-174.0deg	[env.py: 1019]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:32:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.9ms, total=119.9ms	[env.py: 1075]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-1.163, 1.011, 0.085)	[env.py: 1079]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -140.8 deg	[env.py: 1082]
+05/11 14:32:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.756m	[env.py: 1086]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:02 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:32:02 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:32:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:32:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:32:02 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:32:02 INFO: [Worker 0] Collision-checked 230 grasps in 0.068s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:32:02 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.657s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:32:02 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.360[m] 88.007[deg]	[grasp_sample.py: 539]
+05/11 14:32:02 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:32:03 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:32:03 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:32:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:32:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.93s (batch: 3.46s, save: 9.46s)	[pipeline.py: 300]
+05/11 14:32:06 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=0.53s:
+  episode_total: mean=189.39s, total=189.39s, count=1, min=189394.1ms, max=189394.1ms
+  sensor_polling: mean=457.8ms, total=137.33s, count=300, min=341.0ms, max=837.4ms
+  save_trajectories: mean=9.46s, total=9.46s, count=1, min=9464.1ms, max=9464.1ms
+  physics_step: mean=27.9ms, total=8.36s, count=300, min=18.5ms, max=72.4ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3463.1ms, max=3463.1ms
+  task_sampling: mean=527.3ms, total=527.3ms, count=1, min=527.3ms, max=527.3ms
+  task_specific_sample: mean=522.6ms, total=522.6ms, count=1, min=522.6ms, max=522.6ms
+  scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms
+  mj_forward_sync: mean=603.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms
+  policy_setup: mean=23.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:32:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:32:08 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:32:08 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:08 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:32:08 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:32:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:32:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.056m, effective arm-mount z=0.916m (base_body_z=0.056m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.056337m	[env.py: 870]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:32:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 101.7° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -32.0° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.74923145  0.03584431  0.05633683] yaw=161.7deg	[env.py: 1019]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.64326722  0.65637146  0.05633683] yaw=-179.8deg	[env.py: 1019]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.96525159  0.18645697  0.05633683] yaw=165.7deg	[env.py: 1019]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:32:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms	[env.py: 1075]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.749, 0.036, 0.056)	[env.py: 1079]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 161.7 deg	[env.py: 1082]
+05/11 14:32:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m	[env.py: 1086]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:08 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:32:08 INFO: [Worker 0] Worker 0 house 1 episode 16/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:32:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:32:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:32:08 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:32:08 INFO: [Worker 0] Collision-checked 230 grasps in 0.059s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:32:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 3.296s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:32:12 INFO: [Worker 0] Feasible grasp found 1 (originally 1): w/ 0.662[m] 99.305[deg]	[grasp_sample.py: 539]
+05/11 14:32:12 INFO: [Worker 0] Worker 0 house 1 episode 16 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:32:13 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:32:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:32:14 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:32:14 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:14 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:32:14 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:32:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:32:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098554m	[env.py: 870]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:32:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 88.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 101.1° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 101.6° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -38.9° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.92970924  0.38358485  0.09855436] yaw=183.5deg	[env.py: 1019]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.91587899  0.2315098   0.09855436] yaw=172.9deg	[env.py: 1019]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.92009825  0.30948479  0.09855436] yaw=176.6deg	[env.py: 1019]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:32:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=217.0ms, total=217.1ms	[env.py: 1075]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.930, 0.384, 0.099)	[env.py: 1079]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 183.5 deg	[env.py: 1082]
+05/11 14:32:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.779m	[env.py: 1086]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:15 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:32:15 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:32:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:32:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:32:15 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:32:15 INFO: [Worker 0] Collision-checked 230 grasps in 0.066s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:32:15 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.666s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:32:15 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.385[m] 91.208[deg]	[grasp_sample.py: 539]
+05/11 14:32:15 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:32:16 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:32:16 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state.	[task.py: 309]
+05/11 14:32:32 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:36 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:32:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:32:36 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:32:39 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:32:43 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:47 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:32:52 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:32:52 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 15.82s (batch: 4.43s, save: 11.38s)	[pipeline.py: 300]
+05/11 14:32:53 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=0.94s:
+  episode_total: mean=159.90s, total=319.81s, count=2, min=148858.3ms, max=170950.6ms
+  sensor_polling: mean=410.9ms, total=242.42s, count=590, min=304.3ms, max=799.8ms
+  physics_step: mean=24.3ms, total=14.34s, count=590, min=18.3ms, max=67.4ms
+  save_trajectories: mean=11.38s, total=11.38s, count=1, min=11384.7ms, max=11384.7ms
+  save_batch_prep: mean=4.43s, total=4.43s, count=1, min=4435.0ms, max=4435.0ms
+  task_sampling: mean=471.0ms, total=941.9ms, count=2, min=416.1ms, max=525.8ms
+  task_specific_sample: mean=466.8ms, total=933.7ms, count=2, min=412.4ms, max=521.2ms
+  scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.1ms
+  mj_forward_sync: mean=472.7us, total=0.9ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=15.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:32:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:32:54 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:32:54 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:32:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:54 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:32:54 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:32:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:32:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.046m, effective arm-mount z=0.906m (base_body_z=0.046m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.045769m	[env.py: 870]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:32:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.88231863  0.90053025  0.04576933] yaw=-149.8deg	[env.py: 1019]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.70859223  0.81918699  0.04576933] yaw=-169.1deg	[env.py: 1019]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 93.4° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-1.0894469   0.96801414  0.04576933] yaw=-146.1deg	[env.py: 1019]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:32:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=109.4ms, total=109.4ms	[env.py: 1075]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.882, 0.901, 0.046)	[env.py: 1079]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -149.8 deg	[env.py: 1082]
+05/11 14:32:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m	[env.py: 1086]
+05/11 14:32:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:32:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:32:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:32:55 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:32:55 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:32:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:32:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:32:55 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:32:55 INFO: [Worker 0] Collision-checked 230 grasps in 0.076s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:32:56 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.741s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:32:56 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.513[m] 99.019[deg]	[grasp_sample.py: 539]
+05/11 14:32:56 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:32:56 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:32:56 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:32:57 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:33:01 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:41 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:33:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:33:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:33:44 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:33:44 INFO: [Worker 0] Collision-checked 230 grasps in 0.091s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:33:46 INFO: [Worker 0] Feasibility-checked 76 grasps in 1.920s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:33:46 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.523[deg]	[grasp_sample.py: 539]
+05/11 14:33:47 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:33:47 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:33:47 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:9	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:33:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:33:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:33:48 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:33:48 INFO: [Worker 0] Collision-checked 230 grasps in 0.082s, found 78 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:33:49 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:33:50 INFO: [Worker 0] Feasibility-checked 78 grasps in 1.885s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:33:50 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.517[deg]	[grasp_sample.py: 539]
+05/11 14:33:51 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:33:52 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:33:52 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:52 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:10	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:33:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:33:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:33:53 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:33:53 INFO: [Worker 0] Collision-checked 230 grasps in 0.081s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:33:54 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.562s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:33:54 INFO: [Worker 0] Feasible grasp found 157 (originally 42): w/ 0.106[m] 0.491[deg]	[grasp_sample.py: 539]
+05/11 14:33:55 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:55 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:33:55 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:34:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3	[base_object_manipulation_planner_policy.py: 466]
+05/11 14:34:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:34:06 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:34:06 INFO: [Worker 0] Collision-checked 230 grasps in 0.083s, found 76 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:34:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:08 INFO: [Worker 0] Feasibility-checked 76 grasps in 2.087s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:34:08 INFO: [Worker 0] Feasible grasp found 169 (originally 54): w/ 0.106[m] 0.379[deg]	[grasp_sample.py: 539]
+05/11 14:34:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8	[base_object_manipulation_planner_policy.py: 494]
+05/11 14:34:08 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry.	[base_object_manipulation_planner_policy.py: 496]
+05/11 14:34:08 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed.	[base_object_manipulation_planner_policy.py: 462]
+05/11 14:34:09 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=False	[pipeline.py: 1108]
+05/11 14:34:09 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=0.96s:
+  episode_total: mean=59.77s, total=119.53s, count=2, min=5196.5ms, max=114335.1ms
+  sensor_polling: mean=421.3ms, total=78.78s, count=187, min=331.3ms, max=642.8ms
+  physics_step: mean=22.7ms, total=4.24s, count=187, min=12.7ms, max=37.8ms
+  task_sampling: mean=481.7ms, total=963.5ms, count=2, min=442.2ms, max=521.3ms
+  task_specific_sample: mean=478.1ms, total=956.2ms, count=2, min=438.5ms, max=517.7ms
+  scene_randomize: mean=1.9ms, total=3.8ms, count=2, min=1.5ms, max=2.4ms
+  mj_forward_sync: mean=523.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=13.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:34:09 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose	[pipeline.py: 1242]
+05/11 14:34:10 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:34:10 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:34:10 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
+05/11 14:34:10 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=4962.44s
+  House averages:
+  episode_total: mean=153.34s, total=2760.14s, count=18, min=2530.3ms, max=215774.0ms
+  sensor_polling: mean=426.9ms, total=1866.68s, count=4373, min=302.5ms, max=837.4ms
+  save_trajectories: mean=10.22s, total=143.14s, count=14, min=9087.6ms, max=12187.1ms
+  physics_step: mean=24.0ms, total=104.74s, count=4373, min=12.7ms, max=72.4ms
+  save_batch_prep: mean=4.32s, total=60.53s, count=14, min=3463.1ms, max=5377.2ms
+  task_sampling: mean=646.0ms, total=11.63s, count=18, min=338.4ms, max=3326.6ms
+  task_specific_sample: mean=486.5ms, total=8.76s, count=18, min=334.7ms, max=673.8ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.9ms, max=2786.9ms
+  scene_env_create: mean=1.58s, total=1.58s, count=1, min=1581.1ms, max=1581.1ms
+  scene_compile: mean=1.06s, total=1.06s, count=1, min=1059.4ms, max=1059.4ms
+  compile_mujoco: mean=552.4ms, total=552.4ms, count=1, min=552.4ms, max=552.4ms
+  compile_xml_load: mean=397.0ms, total=397.0ms, count=1, min=397.0ms, max=397.0ms
+  scene_init: mean=84.0ms, total=84.0ms, count=1, min=84.0ms, max=84.0ms
+  compile_aux_objects: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  compile_aux_policy_objects: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
+  scene_randomize: mean=2.8ms, total=49.6ms, count=18, min=1.0ms, max=6.0ms
+  asset_install_grasps: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms
+  compile_robot_add: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms
+  asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  mj_forward_sync: mean=521.4us, total=9.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=26.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 14:34:10 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 14:34:10 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4962.44s
+  Worker averages:
+  episode_total: mean=153.34s, total=2760.14s, count=18, min=2530.3ms, max=215774.0ms
+  sensor_polling: mean=426.9ms, total=1866.68s, count=4373, min=302.5ms, max=837.4ms
+  save_trajectories: mean=10.22s, total=143.14s, count=14, min=9087.6ms, max=12187.1ms
+  physics_step: mean=24.0ms, total=104.74s, count=4373, min=12.7ms, max=72.4ms
+  save_batch_prep: mean=4.32s, total=60.53s, count=14, min=3463.1ms, max=5377.2ms
+  task_sampling: mean=646.0ms, total=11.63s, count=18, min=338.4ms, max=3326.6ms
+  task_specific_sample: mean=486.5ms, total=8.76s, count=18, min=334.7ms, max=673.8ms
+  scene_load: mean=2.79s, total=2.79s, count=1, min=2786.9ms, max=2786.9ms
+  scene_env_create: mean=1.58s, total=1.58s, count=1, min=1581.1ms, max=1581.1ms
+  scene_compile: mean=1.06s, total=1.06s, count=1, min=1059.4ms, max=1059.4ms
+  compile_mujoco: mean=552.4ms, total=552.4ms, count=1, min=552.4ms, max=552.4ms
+  compile_xml_load: mean=397.0ms, total=397.0ms, count=1, min=397.0ms, max=397.0ms
+  scene_init: mean=84.0ms, total=84.0ms, count=1, min=84.0ms, max=84.0ms
+  compile_aux_objects: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  compile_aux_policy_objects: mean=80.2ms, total=80.2ms, count=1, min=80.2ms, max=80.2ms
+  scene_asset_install: mean=62.1ms, total=62.1ms, count=1, min=62.1ms, max=62.1ms
+  scene_randomize: mean=2.8ms, total=49.6ms, count=18, min=1.0ms, max=6.0ms
+  asset_install_grasps: mean=45.9ms, total=45.9ms, count=1, min=45.9ms, max=45.9ms
+  compile_robot_add: mean=18.3ms, total=18.3ms, count=1, min=18.3ms, max=18.3ms
+  asset_install_objects: mean=12.7ms, total=12.7ms, count=1, min=12.7ms, max=12.7ms
+  mj_forward_sync: mean=521.4us, total=9.4ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms
+  policy_setup: mean=26.2us, total=0.5ms, count=18, min=0.0ms, max=0.1ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 14:34:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1	[task_sampler.py: 1086]
+05/11 14:34:10 INFO: [Worker 0] Scene setup completed.
+	[pick_task_sampler.py: 260]
+05/11 14:34:10 INFO: [Worker 0] Found 1 articulable objects in the scene for opening task sampling	[opening_task_samplers.py: 63]
+05/11 14:34:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:34:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:34:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:34:10 WARNING: [Worker 0] No image features for Fridge_m, ignoring.	[object_manager.py: 1078]
+05/11 14:34:10 INFO: [Worker 0] [OPEN] sorted candidate joints for Fridge_7_upside_down_root: ['Fridge_7_Mesh_46038546__1', 'Fridge_7_Mesh_57e9bd7c__1']	[opening_task_samplers.py: 178]
+05/11 14:34:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=1 -> Fridge_7_Mesh_57e9bd7c__1	[opening_task_samplers.py: 187]
+05/11 14:34:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=0.099m, effective arm-mount z=0.959m (base_body_z=0.099m, pedestal_h=0.860m)	[opening_task_samplers.py: 256]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10)	[env.py: 836]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (-1.702, 0.482, 1.346)	[env.py: 845]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: 0.098911m	[env.py: 870]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.750m - 1.100m	[env.py: 871]
+05/11 14:34:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map	[env.py: 777]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 12587 free points within sampling radius	[env.py: 907]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.70963661  0.73909536  0.09891053] yaw=-159.4deg	[env.py: 1019]
+05/11 14:34:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1	[env.py: 1029]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-1.11201902  0.9760391   0.09891053] yaw=-143.1deg	[env.py: 1019]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2	[env.py: 1029]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.3° outside wedge [-28.6°, 51.6°], rejecting...	[env.py: 969]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.73969955  0.81395142  0.09891053] yaw=-162.6deg	[env.py: 1019]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3	[env.py: 1029]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {}	[env.py: 1068]
+05/11 14:34:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.0ms, total=119.0ms	[env.py: 1075]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.710, 0.739, 0.099)	[env.py: 1079]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -159.4 deg	[env.py: 1082]
+05/11 14:34:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m	[env.py: 1086]
+05/11 14:34:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras	[camera_manager.py: 300]
+05/11 14:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera)	[camera_manager.py: 438]
+05/11 14:34:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1'	[camera_manager.py: 510]
+05/11 14:34:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras	[camera_manager.py: 326]
+05/11 14:34:11 INFO: [Worker 0] Sampled task 'Open the fridge'	[task_sampler.py: 1136]
+05/11 14:34:11 INFO: [Worker 0] Worker 0 house 1 episode 17/18 collected=0/3	[pipeline.py: 1044]
+05/11 14:34:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s	[base_object_manipulation_planner_policy.py: 377]
+05/11 14:34:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/grasps/droid/Fridge_m/Fridge_m_Mesh_57e9bd7c__1_grasps_filtered.npz	[grasp_sample.py: 179]
+05/11 14:34:11 INFO: [Worker 0] Loaded 230 total grasp poses (including flipped versions)	[grasp_sample.py: 388]
+05/11 14:34:11 INFO: [Worker 0] Collision-checked 230 grasps in 0.067s, found 88 non-colliding grasps	[grasp_sample.py: 465]
+05/11 14:34:12 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.706s, found feasible grasp: True	[grasp_sample.py: 500]
+05/11 14:34:12 INFO: [Worker 0] Feasible grasp found 161 (originally 46): w/ 0.558[m] 88.197[deg]	[grasp_sample.py: 539]
+05/11 14:34:12 INFO: [Worker 0] Planning completed. w/ 3 steps
+	[open_close_planner_policy.py: 225]
+05/11 14:34:12 INFO: [Worker 0] Opening gripper...	[base_object_manipulation_planner_policy.py: 299]
+05/11 14:34:12 INFO: [Worker 0] Moving to pregrasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:34:13 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 14:34:13 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
+05/11 14:34:13 INFO: Success rate: 93.33%	[pipeline.py: 1492]
+05/11 14:34:52 INFO: [Worker 0] Moving to grasp	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:34:55 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:34:59 INFO: [Worker 0] Closing gripper...	[base_object_manipulation_planner_policy.py: 301]
+05/11 14:35:02 INFO: [Worker 0] Moving to lift	[base_object_manipulation_planner_policy.py: 112]
+05/11 14:35:17 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:35:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 4/4: 1 episodes	[pipeline.py: 238]
+05/11 14:35:17 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:35:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:35:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:35:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 12.26s (batch: 3.46s, save: 8.79s)	[pipeline.py: 300]
+05/11 14:35:30 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.41s:
+  episode_total: mean=155.59s, total=155.59s, count=1, min=155586.3ms, max=155586.3ms
+  sensor_polling: mean=367.3ms, total=110.18s, count=300, min=301.0ms, max=785.4ms
+  save_trajectories: mean=8.79s, total=8.79s, count=1, min=8793.3ms, max=8793.3ms
+  physics_step: mean=22.0ms, total=6.59s, count=300, min=18.3ms, max=30.7ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3462.0ms, max=3462.0ms
+  task_sampling: mean=414.2ms, total=414.2ms, count=1, min=414.2ms, max=414.2ms
+  task_specific_sample: mean=411.0ms, total=411.0ms, count=1, min=411.0ms, max=411.0ms
+  scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms
+  mj_forward_sync: mean=356.0us, total=0.4ms, count=1, min=0.4ms, max=0.4ms
+  policy_setup: mean=16.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:35:31 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:35:31 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:35:31 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes	[pipeline.py: 1323]
+05/11 14:35:31 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=5192.10s
+  House averages:
+  episode_total: mean=157.92s, total=2842.50s, count=18, min=4054.5ms, max=190431.3ms
+  sensor_polling: mean=394.6ms, total=1999.31s, count=5067, min=292.4ms, max=858.8ms
+  save_trajectories: mean=10.43s, total=146.03s, count=14, min=8654.3ms, max=11745.7ms
+  physics_step: mean=23.3ms, total=117.98s, count=5067, min=12.1ms, max=85.6ms
+  save_batch_prep: mean=4.32s, total=60.47s, count=14, min=3462.0ms, max=5781.8ms
+  task_sampling: mean=620.2ms, total=11.16s, count=18, min=323.6ms, max=3200.8ms
+  task_specific_sample: mean=468.4ms, total=8.43s, count=18, min=320.2ms, max=703.6ms
+  scene_load: mean=2.66s, total=2.66s, count=1, min=2659.7ms, max=2659.7ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1780.5ms, max=1780.5ms
+  scene_compile: mean=760.7ms, total=760.7ms, count=1, min=760.7ms, max=760.7ms
+  compile_mujoco: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms
+  compile_xml_load: mean=181.5ms, total=181.5ms, count=1, min=181.5ms, max=181.5ms
+  scene_init: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms
+  compile_aux_policy_objects: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms
+  scene_asset_install: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.0ms, max=4.2ms
+  asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  compile_robot_add: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=454.3us, total=8.2ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 14:35:31 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 14:35:31 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=5192.10s
+  Worker averages:
+  episode_total: mean=157.92s, total=2842.50s, count=18, min=4054.5ms, max=190431.3ms
+  sensor_polling: mean=394.6ms, total=1999.31s, count=5067, min=292.4ms, max=858.8ms
+  save_trajectories: mean=10.43s, total=146.03s, count=14, min=8654.3ms, max=11745.7ms
+  physics_step: mean=23.3ms, total=117.98s, count=5067, min=12.1ms, max=85.6ms
+  save_batch_prep: mean=4.32s, total=60.47s, count=14, min=3462.0ms, max=5781.8ms
+  task_sampling: mean=620.2ms, total=11.16s, count=18, min=323.6ms, max=3200.8ms
+  task_specific_sample: mean=468.4ms, total=8.43s, count=18, min=320.2ms, max=703.6ms
+  scene_load: mean=2.66s, total=2.66s, count=1, min=2659.7ms, max=2659.7ms
+  scene_env_create: mean=1.78s, total=1.78s, count=1, min=1780.5ms, max=1780.5ms
+  scene_compile: mean=760.7ms, total=760.7ms, count=1, min=760.7ms, max=760.7ms
+  compile_mujoco: mean=492.4ms, total=492.4ms, count=1, min=492.4ms, max=492.4ms
+  compile_xml_load: mean=181.5ms, total=181.5ms, count=1, min=181.5ms, max=181.5ms
+  scene_init: mean=75.4ms, total=75.4ms, count=1, min=75.4ms, max=75.4ms
+  compile_aux_objects: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms
+  compile_aux_policy_objects: mean=65.0ms, total=65.0ms, count=1, min=65.0ms, max=65.0ms
+  scene_asset_install: mean=42.4ms, total=42.4ms, count=1, min=42.4ms, max=42.4ms
+  scene_randomize: mean=2.3ms, total=41.2ms, count=18, min=1.0ms, max=4.2ms
+  asset_install_grasps: mean=30.8ms, total=30.8ms, count=1, min=30.8ms, max=30.8ms
+  compile_robot_add: mean=11.5ms, total=11.5ms, count=1, min=11.5ms, max=11.5ms
+  asset_install_objects: mean=8.9ms, total=8.9ms, count=1, min=8.9ms, max=8.9ms
+  mj_forward_sync: mean=454.3us, total=8.2ms, count=18, min=0.3ms, max=0.6ms
+  asset_install_scene: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms
+  policy_setup: mean=19.4us, total=0.3ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 14:35:34 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 14:35:34 INFO: Success count: 14, Total count: 15	[pipeline.py: 1491]
+05/11 14:35:34 INFO: Success rate: 93.33%	[pipeline.py: 1492]
+05/11 14:36:00 INFO: [Worker 0] Worker 0 house 1 episode 17 object Fridge_7_upside_down_root completed with success=True	[pipeline.py: 1108]
+05/11 14:36:22 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/fridge_m/sim_chunks/chunk_006	[pipeline.py: 1174]
+05/11 14:36:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_006 batch 2/4: 1 episodes	[pipeline.py: 238]
+05/11 14:36:22 INFO: [Worker 0] Preparing episode data: 301 timesteps	[save_utils.py: 278]
+05/11 14:36:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended	[save_utils.py: 741]
+05/11 14:36:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/fridge_m/sim_chunks/chunk_006	[save_utils.py: 785]
+05/11 14:36:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_006 in 11.90s (batch: 3.46s, save: 8.44s)	[pipeline.py: 300]
+05/11 14:36:35 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.71s:
+  episode_total: mean=135.97s, total=271.94s, count=2, min=127748.6ms, max=144194.5ms
+  sensor_polling: mean=362.7ms, total=206.71s, count=570, min=318.0ms, max=747.1ms
+  physics_step: mean=21.1ms, total=12.05s, count=570, min=14.1ms, max=36.4ms
+  save_trajectories: mean=8.44s, total=8.44s, count=1, min=8437.8ms, max=8437.8ms
+  save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3462.9ms, max=3462.9ms
+  task_sampling: mean=356.9ms, total=713.8ms, count=2, min=343.4ms, max=370.4ms
+  task_specific_sample: mean=353.1ms, total=706.2ms, count=2, min=339.8ms, max=366.3ms
+  scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms
+  mj_forward_sync: mean=490.7us, total=1.0ms, count=2, min=0.4ms, max=0.6ms
+  policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms	[profiler_utils.py: 380]
+05/11 14:36:36 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:36:36 WARNING: [Worker 0] No trajectory data to save for chunk_006	[pipeline.py: 234]
+05/11 14:36:36 INFO: [Worker 0] Worker 0 completed house 1: 13/14 successful episodes	[pipeline.py: 1323]
+05/11 14:36:36 INFO: [Worker 0] [PROFILE] House 1 complete: 13/14 successful, 14 episodes, total_time=5268.52s
+  House averages:
+  episode_total: mean=161.43s, total=2905.71s, count=18, min=2401.9ms, max=218630.3ms
+  sensor_polling: mean=417.4ms, total=2044.80s, count=4899, min=284.7ms, max=945.7ms
+  save_trajectories: mean=10.11s, total=131.46s, count=13, min=8437.8ms, max=11276.7ms
+  physics_step: mean=22.9ms, total=111.97s, count=4899, min=11.8ms, max=63.0ms
+  save_batch_prep: mean=3.87s, total=50.36s, count=13, min=3129.3ms, max=4411.7ms
+  task_sampling: mean=584.1ms, total=10.51s, count=18, min=343.4ms, max=2826.8ms
+  task_specific_sample: mean=450.1ms, total=8.10s, count=18, min=339.8ms, max=585.2ms
+  scene_load: mean=2.34s, total=2.34s, count=1, min=2344.9ms, max=2344.9ms
+  scene_env_create: mean=1.43s, total=1.43s, count=1, min=1428.5ms, max=1428.5ms
+  scene_compile: mean=801.5ms, total=801.5ms, count=1, min=801.5ms, max=801.5ms
+  compile_mujoco: mean=611.0ms, total=611.0ms, count=1, min=611.0ms, max=611.0ms
+  compile_xml_load: mean=134.0ms, total=134.0ms, count=1, min=134.0ms, max=134.0ms
+  scene_init: mean=76.6ms, total=76.6ms, count=1, min=76.6ms, max=76.6ms
+  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=0.9ms, max=3.5ms
+  asset_install_grasps: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  mj_forward_sync: mean=481.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 407]
+05/11 14:36:36 INFO: [Worker 0] Worker 0 completed processing assigned houses	[pipeline.py: 512]
+05/11 14:36:36 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5268.52s
+  Worker averages:
+  episode_total: mean=161.43s, total=2905.71s, count=18, min=2401.9ms, max=218630.3ms
+  sensor_polling: mean=417.4ms, total=2044.80s, count=4899, min=284.7ms, max=945.7ms
+  save_trajectories: mean=10.11s, total=131.46s, count=13, min=8437.8ms, max=11276.7ms
+  physics_step: mean=22.9ms, total=111.97s, count=4899, min=11.8ms, max=63.0ms
+  save_batch_prep: mean=3.87s, total=50.36s, count=13, min=3129.3ms, max=4411.7ms
+  task_sampling: mean=584.1ms, total=10.51s, count=18, min=343.4ms, max=2826.8ms
+  task_specific_sample: mean=450.1ms, total=8.10s, count=18, min=339.8ms, max=585.2ms
+  scene_load: mean=2.34s, total=2.34s, count=1, min=2344.9ms, max=2344.9ms
+  scene_env_create: mean=1.43s, total=1.43s, count=1, min=1428.5ms, max=1428.5ms
+  scene_compile: mean=801.5ms, total=801.5ms, count=1, min=801.5ms, max=801.5ms
+  compile_mujoco: mean=611.0ms, total=611.0ms, count=1, min=611.0ms, max=611.0ms
+  compile_xml_load: mean=134.0ms, total=134.0ms, count=1, min=134.0ms, max=134.0ms
+  scene_init: mean=76.6ms, total=76.6ms, count=1, min=76.6ms, max=76.6ms
+  compile_aux_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  compile_aux_policy_objects: mean=40.6ms, total=40.6ms, count=1, min=40.6ms, max=40.6ms
+  scene_asset_install: mean=38.0ms, total=38.0ms, count=1, min=38.0ms, max=38.0ms
+  scene_randomize: mean=2.1ms, total=37.7ms, count=18, min=0.9ms, max=3.5ms
+  asset_install_grasps: mean=27.7ms, total=27.7ms, count=1, min=27.7ms, max=27.7ms
+  mj_forward_sync: mean=481.0us, total=8.7ms, count=18, min=0.4ms, max=0.9ms
+  asset_install_objects: mean=7.9ms, total=7.9ms, count=1, min=7.9ms, max=7.9ms
+  compile_robot_add: mean=5.8ms, total=5.8ms, count=1, min=5.8ms, max=5.8ms
+  asset_install_scene: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms
+  policy_setup: mean=23.2us, total=0.4ms, count=18, min=0.0ms, max=0.0ms
+  scene_reuse: mean=0.0us, total=0.0ms, count=17, min=0.0ms, max=0.0ms	[profiler_utils.py: 429]
+05/11 14:36:38 INFO: Completed 1 houses, skipped 0 houses	[pipeline.py: 1488]
+05/11 14:36:38 INFO: Success count: 13, Total count: 14	[pipeline.py: 1491]
+05/11 14:36:38 INFO: Success rate: 92.86%	[pipeline.py: 1492]